Articulation system for surgical instrument

ABSTRACT

A surgical instrument assembly is disclosed. The surgical instrument assembly comprises a shaft, an end effector, and a drive member configured to actuate a function of the end effector. The surgical instrument assembly further comprises an articulation member configured to be actuated to articulate the end effector and an articulation region, wherein the articulation member is configured to articulate the end effector relative to the shaft by way of the articulation region, wherein the drive member extends through the shaft, the articulation region, and the end effector. The articulation region comprises an articulation support pivot positioned within the articulation region, wherein the articulation member is coupled to the articulation support pivot, wherein the articulation member is actuatable to rotate the articulation support pivot, and wherein the drive member extends through the articulation support pivot.

BACKGROUND

The present invention relates to surgical instruments and, in variousarrangements, to surgical stapling and cutting instruments and staplecartridges for use therewith that are designed to staple and cut tissue.

BRIEF DESCRIPTION OF THE DRAWINGS

Various features of the embodiments described herein, together withadvantages thereof, may be understood in accordance with the followingdescription taken in conjunction with the accompanying drawings asfollows:

FIG. 1 is a perspective view of surgical instrument in accordance withat least one embodiment;

FIG. 2 is a perspective view of a shaft of the surgical instrument ofFIG. 1;

FIG. 3 is a perspective view of an end effector of the surgicalinstrument of FIG. 1;

FIG. 4 is a partial exploded view of the shaft of FIG. 2;

FIG. 5 is a partial exploded view of the end effector of FIG. 3;

FIG. 6 is an exploded view of the end effector of FIG. 3;

FIG. 7 is an elevational view of the end effector of FIG. 3 illustratingthe end effector in an open configuration;

FIG. 8 is an elevational view of the end effector of FIG. 3 illustratingthe end effector in a closed configuration;

FIG. 9 is a plan view of an articulation joint of the surgicalinstrument of FIG. 1 illustrating the end effector in an unarticulatedposition;

FIG. 10 is a plan view of an articulation joint of the surgicalinstrument of FIG. 1 illustrating the end effector in an articulatedposition;

FIG. 11 is a cross-sectional view of the end effector of FIG. 3illustrated in a closed, unfired configuration;

FIG. 12 is a cross-sectional view of the end effector of FIG. 3illustrated in a closed, fired configuration;

FIG. 12A is a cross-sectional view of the end effector of FIG. 3illustrated in a open configuration;

FIG. 13 is a perspective view of a handle of the surgical instrument ofFIG. 1 illustrated with some components removed;

FIG. 14 is a partial cross-sectional view of a surgical instrument inaccordance with at least one embodiment;

FIG. 15 is a partial cross-sectional view of the surgical instrument ofFIG. 14 illustrated in a partially-fired condition;

FIG. 16 is a cross-sectional view of an end effector of a surgicalinstrument in accordance with at least one embodiment;

FIG. 17 is a perspective view of an anvil of the end effector of FIG.16;

FIG. 18 is an exploded view of the anvil of FIG. 17;

FIG. 19 is a partial cross-sectional view of a closure drive and afiring drive in accordance with at least one embodiment;

FIG. 20 is another partial cross-sectional view of the closure drive andthe firing drive of FIG. 19 taken at a different, or distal, locationalong the longitudinal length thereof,

FIG. 21 is a cross-sectional view of an end effector of a surgicalinstrument in accordance with at least one embodiment;

FIG. 22 is a detail view of a staple cavity of a staple cartridgeincluding a staple positioned in the staple cavity in accordance with atleast one embodiment;

FIG. 23 is a partial cross-sectional view of the staple cartridge ofFIG. 22 illustrating the staple in an unfired position;

FIG. 24 is a partial cross-sectional view of the staple cartridge ofFIG. 22 illustrating the staple in a partially-fired position;

FIG. 25 is a detail view of a staple cavity of a staple cartridgeincluding a staple positioned in the staple cavity in accordance with atleast one embodiment;

FIG. 26 is a partial cross-sectional view of the staple cartridge ofFIG. 25 illustrating the staple in an unfired position;

FIG. 27 is a partial cross-sectional view of the staple cartridge ofFIG. 25 illustrating the staple in a partially-fired position;

FIG. 28 is a partial cross-sectional view of a staple cartridge inaccordance with at least one embodiment illustrating a staple positionedin a staple cavity in an unfired position;

FIG. 29 is a partial cross-sectional view of the staple cartridge ofFIG. 28 illustrating the staple in a partially-fired position;

FIG. 30 is a detail view of a staple cavity of a staple cartridgeincluding a staple positioned in the staple cavity in accordance with atleast one embodiment;

FIG. 31 is a partial cross-sectional view of the staple cartridge ofFIG. 30 illustrating the staple in an unfired position;

FIG. 32 is a partial cross-sectional view of the staple cartridge ofFIG. 30 illustrating the staple in a partially-fired position;

FIG. 33 is a perspective view of a surgical staple in accordance with atleast one embodiment;

FIG. 34 is a perspective view of a staple cartridge in accordance withat least one embodiment;

FIG. 35 is a bottom perspective view of the staple cartridge of FIG. 34;

FIG. 36 is an end view of the staple cartridge of FIG. 34;

FIG. 37 is a partial cross-sectional view of the staple cartridge ofFIG. 34 illustrated in a partially-fired configuration;

FIG. 38 is a cross-sectional perspective view of the staple cartridge ofFIG. 34;

FIG. 39 is a cross-sectional perspective view of a staple cartridge inaccordance with at least one embodiment;

FIG. 40 is a cross-sectional elevational view of the staple cartridge ofFIG. 39 illustrated in an unfired configuration;

FIG. 41 is a cross-sectional elevational view of the staple cartridge ofFIG. 39 illustrated in a fired configuration;

FIG. 42 is a partial perspective view of a staple cartridge inaccordance with at least one embodiment;

FIG. 43 is a perspective view of a staple driver of the staple cartridgeof FIG. 42;

FIG. 44 is a plan view of the staple driver of FIG. 43;

FIG. 45 is a partial bottom view of a staple cartridge in accordancewith at least one embodiment;

FIG. 46 is atop view of a staple driver of the staple cartridge of FIG.45;

FIG. 47 is a perspective view of the staple driver of FIG. 46;

FIG. 48 is an elevational view of the staple driver of FIG. 46;

FIG. 48A is a partial cross-sectional perspective view of an endeffector including the staple cartridge of FIG. 45;

FIG. 48B is a partial cross-sectional perspective view of the endeffector of FIG. 48A;

FIG. 49 is a partial cross-sectional perspective view of a staplecartridge in accordance with at least one embodiment;

FIG. 50 is a perspective view of a staple driver of the staple cartridgeof FIG. 49;

FIG. 51 is a perspective view of a staple driver in accordance with atleast one embodiment;

FIG. 52 is atop view of the staple driver of FIG. 51;

FIG. 53 is a partial perspective view of a staple cartridge inaccordance with at least one embodiment;

FIG. 54 is an exploded view of the staple cartridge of FIG. 53;

FIG. 55 is a partial cross-sectional perspective view of a staplecartridge in accordance with at least one embodiment;

FIG. 56 illustrates the staple cartridge of FIG. 55 in a firedcondition;

FIG. 57 is a partial elevational view of the staple cartridge of FIG.55;

FIG. 58 is a perspective view of a staple driver of the staple cartridgeof FIG. 55;

FIG. 59 is a partial cross-sectional view of the staple cartridge ofFIG. 55 illustrated in an unfired condition;

FIG. 60 is a partial cross-sectional view of the staple cartridge ofFIG. 55 illustrated in a fired condition;

FIG. 61 is a partial cross-sectional perspective view of a staplecartridge in accordance with at least one embodiment illustrated in anunfired condition;

FIG. 62 illustrates the staple cartridge of FIG. 61 in a firedcondition;

FIG. 63 is a perspective view of a staple driver of the staple cartridgeof FIG. 62;

FIG. 64 is a perspective view of a staple cartridge in accordance withat least one embodiment;

FIG. 65 is a cross-sectional perspective view of the staple cartridge ofFIG. 64;

FIG. 66 is an end view of a staple cartridge in accordance with at leastone embodiment;

FIG. 67 is a sled in accordance with at least one embodiment;

FIG. 68 is a perspective view of a sled of the staple cartridge of FIG.64;

FIG. 69 is a cross-sectional perspective view of the staple cartridge ofFIG. 64;

FIG. 70 is a partial cross-sectional perspective view of a staplecartridge in accordance with at least one embodiment;

FIG. 71 is a perspective view of supports of the staple cartridge ofFIG. 70;

FIG. 72 is a perspective view of a staple driver and a staple of astaple cartridge in accordance with at least one embodiment;

FIG. 73 is a perspective view of the staple driver of FIG. 72;

FIG. 74 is a partial elevational view of the staple driver and staple ofFIG. 72;

FIG. 75 is a top view of a sled in accordance with at least oneembodiment;

FIG. 76 is a perspective view of the sled of FIG. 75 and a stapledriver;

FIG. 77 is a partial cross-sectional view of a staple cartridgeincluding the sled of FIG. 75 and the driver of FIG. 76;

FIG. 78 is a partial perspective view of the staple cartridge of FIG. 77illustrating the sled engaged with the staple driver;

FIG. 79 is a partial perspective view of the staple cartridge of FIG. 77illustrating the staple driver in a fired position;

FIG. 80 is a perspective view of a drive system for use with a surgicalinstrument;

FIG. 81 is an exploded assembly view of the drive system of FIG. 80;

FIG. 82 is an end elevation view of the drive system of FIG. 80;

FIG. 83 is a side elevation view of the drive system of FIG. 80 in afirst configuration;

FIG. 84 is a side elevation view of the drive system of FIG. 80 in asecond configuration;

FIG. 85 is a side elevation view of the drive system of FIG. 80 in athird configuration;

FIG. 86 is a perspective view of another drive system for use with asurgical instrument;

FIG. 87 is a perspective view of the drive system of FIG. 86 withportions of cams removed for clarity;

FIG. 88 is an exploded assembly view of the drive system of FIG. 86;

FIG. 89 is an end elevation view of the drive system of FIG. 86;

FIG. 90 is a perspective view of the drive system of FIG. 86 in a firstconfiguration;

FIG. 91 is a perspective view of the drive system of FIG. 86 in a secondconfiguration;

FIG. 92 is a perspective view of the drive system of FIG. 86 in a thirdconfiguration;

FIG. 93 is an elevational view of an articulation joint for use with asurgical instrument, wherein the articulation joint comprises anarticulation support pivot;

FIG. 94 is an elevational view of the articulation joint of FIG. 93illustrated in a non-articulated configuration;

FIG. 95 is a cross-sectional view of the articulation joint of FIG. 93taken along line 95-95 in FIG. 93;

FIG. 96 is an elevational view of the articulation joint of FIG. 93illustrated in an articulated configuration;

FIG. 97 is a cross-sectional view of an articulation joint for use witha surgical instrument;

FIG. 98 is a perspective view of a surgical instrument assemblycomprising an end effector cartridge, a firing member, and a pluralityof flexible actuators;

FIG. 99 is an elevational view of the surgical instrument assembly ofFIG. 98;

FIG. 100 is an elevational view of an articulation system for use with asurgical instrument assembly, wherein the articulation system comprisesan articulation joint, an articulation actuation system, and a biasingsystem configured to bias the articulation joint into a non-articulatedconfiguration, wherein the articulation joint is illustrated in thenon-articulated configuration;

FIG. 101 is an elevational view of the articulation system of FIG. 100,wherein the articulation joint is illustrated in an articulatedconfiguration;

FIG. 102 is a perspective view of a surgical instrument shaft assemblycomprising a spine, an articulation joint, and a core insert positionedwithin the spine;

FIG. 103 is a perspective view of the spine and core inset of FIG. 102,wherein the core insert comprises a proximal core member and a distalcore member positioned within the spine;

FIG. 104 is a partial elevational view of the proximal core member andthe distal core member of the surgical instrument assembly of FIG. 102;

FIG. 105 is an elevational view of a piezoelectric actuator for use witha surgical instrument, wherein the piezoelectric actuator comprisesouter piezoelectric layers and an inner substrate layer;

FIG. 106 is an elevational view of a piezoelectric actuator for use witha surgical instrument, wherein the piezoelectric actuator is illustratedin an un-energized state;

FIG. 107 is an elevational view of the piezoelectric actuator of FIG.106, wherein the piezoelectric actuator is illustrated in an energizedstate;

FIG. 108 is a perspective view of a piezoelectric actuator for use witha surgical instrument, wherein the piezoelectric actuator is illustratedin an un-energized state;

FIG. 109 is an elevational view of the piezoelectric actuator of FIG.108, wherein the piezoelectric actuator is illustrated in an energizedstate;

FIG. 110 is a chart representing force generation vs. displacement of apiezoelectric actuator for use with a surgical instrument;

FIG. 111 is a perspective view of an electroactive polymer actuator foruse with a surgical instrument;

FIG. 112 is a cross-sectional view of a shaft assembly comprising anouter shaft, a spine portion, and a rotational actuation systemconfigured to rotate the spine portion relative to the outer shaft,wherein the rotational actuation system comprises a rotary drive shaftand a frictional interface between the rotary drive shaft and the spineportion;

FIG. 113 is a cross-sectional view of a shaft assembly comprising anouter shaft, a spine portion, and a rotational actuation systemconfigured to rotate the spine portion relative to the outer shaft,wherein the rotational actuation system comprises a plurality ofwindings and magnets configured to cooperate to rotate the spine portionrelative to the outer shaft;

FIG. 114 is a perspective cross-sectional view of a surgical instrumentassembly comprising an outer shaft, a spine, and a piezoelectric rotaryactuator configured to rotate the spine;

FIG. 115 is an elevational view of a limiter system for use with asurgical instrument assembly configured to limit rotational actuation ofa rotary drive upon reaching a threshold position, wherein the limitersystem is illustrated in an non-limited configuration;

FIG. 116 is an elevational view of the limiter system of FIG. 115,wherein the limiter system is engaged with the rotary drive in apartially limited state;

FIG. 117 is an elevational view of the limiter system of FIG. 115,wherein the limier system is engaged with the rotary drive in a fullylimited state;

FIG. 118 is an elevational view of a rotary actuation system for usewith a surgical instrument, wherein the rotary actuation systemcomprises a limiting feature configured to prevent further over-rotationof a component, wherein the rotary actuation system is illustrated in ahome position;

FIG. 119 is an elevational view of the rotary actuation system of FIG.118, wherein the rotary actuation system is illustrated in a firstthreshold state;

FIG. 120 is an elevational view of the rotary actuation system of FIG.118, wherein the rotary actuation system is illustrated in a secondthreshold state;

FIG. 121 is a perspective view of a segmented ring contact system foruse with a surgical instrument assembly;

FIG. 122 is an elevational view of a surgical instrument assemblycomprising a first shaft, a second shaft, and an electrical transmissionarrangement configured to transmit electrical signals between contactspositioned on the first shaft and contacts positioned on the secondshaft;

FIG. 123 is an elevational view of a surgical instrument assemblycomprising the first shaft, the second shaft, and the electricaltransmission arrangement of FIG. 122, wherein the surgical instrumentassembly further comprises grommets positioned within the electricaltransmission arrangement;

FIG. 124 is an elevational view of a surgical instrument assemblycomprising the first shaft, the second shaft, and the electricaltransmission arrangement of FIG. 122, wherein the surgical instrumentassembly further comprises a grommet positioned to prevent fluid ingresstoward the electrical transmission arrangement;

FIG. 125 is an elevational view of a surgical instrument assemblycomprising a first shaft, a second shaft, and an electrical transmissionarrangement configured to transmit electrical signals between contactspositioned on the first shaft and contacts positioned on the secondshaft;

FIG. 126 is an elevational view of a surgical instrument assemblycomprising a first shaft, a second shaft, and an electrical transmissionarrangement configured to transmit electrical signals between contactspositioned on the first shaft and contacts positioned on the secondshaft;

FIG. 127 is an elevational view of a surgical instrument assemblycomprising a first shaft, a second shaft, and an electrical transmissionarrangement configured to transmit electrical signals between contactspositioned on the first shaft and contacts positioned on the secondshaft;

FIG. 128 is a schematic representation of an inductive coil assembly foruse with a surgical instrument assembly comprising a transmission coiland a receiver coil;

FIG. 129 is a schematic representation of an inductive coil assembly foruse with a surgical instrument assembly comprising a transmission coiland a receiver coil;

FIG. 130 is a schematic representation of an electroactive polymer foruse with a surgical instrument assembly, wherein the electroactivepolymer is illustrated in a non-energized state;

FIG. 131 is a schematic representation of the electroactive polymer ofFIG. 129, wherein the electroactive polymer is illustrated in anenergized state;

FIG. 132 is a perspective view of an end effector having a channel and areplaceable assembly according to at least one aspect of the presentdisclosure;

FIG. 133 is a perspective view of the end effector of FIG. 132 prior tothe replaceable assembly being seated in the channel;

FIG. 134 is a perspective view of the replaceable assembly of FIG. 132having a staple cartridge and an anvil;

FIG. 135 is an elevational view of the end effector of FIG. 132 prior tothe replaceable assembly being seated in the channel;

FIG. 136 is an elevational view of the end effector of FIG. 132 during afirst stage of seating the replaceable assembly in the channel;

FIG. 137 is an elevational view of the end effector of FIG. 132 during asecond stage of seating the replaceable assembly in the channel;

FIG. 138 is an elevational view of the end effector of FIG. 132 with thereplaceable assembly fully seated in the channel;

FIG. 139 is a perspective view of a disposable end effector attached toan elongate shaft according to at least one aspect of the presentdisclosure;

FIG. 140 is a partial perspective view of the disposable end effector ofFIG. 139 detached from the end effector;

FIG. 141 is a partial perspective view of flex circuits positionedwithin the disposable end effector of FIG. 139;

FIG. 142 is a partial perspective view of an attachment interfacebetween the disposable end effector of FIG. 139 and the elongate shaftprior to the end effector being replaceably attached to the elongateshaft;

FIG. 143 is a partial perspective view of the disposable end effectorand elongate shaft of FIG. 139 during a first stage of attaching the endeffector to the elongate shaft;

FIG. 144 is a partial perspective view of the disposable end effectorand elongate shaft of FIG. 139 during a second stage of attaching theend effector to the elongate shaft;

FIG. 145 is a partial perspective view of the disposable end effectorfully attached to the elongate shaft;

FIG. 146 is a partial cross-sectional view of the disposable endeffector fully attached to the elongate shaft;

FIG. 147 is a perspective view of a shaft and an end effector in adetached state with a firing member and a drive shaft shown in phantomaccording to at least one aspect of the present disclosure;

FIG. 148 is a perspective view of the shaft and the end effector of FIG.147 in an attached state with the firing member and the drive shaftshown in phantom;

FIG. 149 is a perspective view of the firing member and the drive shaftof FIG. 147 in the detached state;

FIG. 150 is a partial cross-sectional view of the firing member and thedrive shaft of FIG. 148 in the attached state;

FIG. 151 is a perspective view of a reinforced anvil according to atleast one aspect of the present disclosure;

FIG. 152 is a perspective view of the reinforced anvil of FIG. 151having an anvil and an anvil plate welded thereto;

FIG. 153 is an elevational view of an end effector having the reinforcedanvil of FIG. 151;

FIG. 154 is a partial cross-sectional view of a channel having cartridgeretention features and a cartridge seated therein according to at leastone aspect of the present disclosure;

FIG. 155 is a perspective view of a surgical instrument including an endeffector for use in a surgical procedure, in accordance with at leastone aspect of the present disclosure;

FIG. 156 is a partial perspective view of a distal portion of thesurgical instrument of FIG. 155;

FIG. 157 is an exploded view of an end effector of the surgicalinstrument of FIG. 155;

FIG. 158 is a cross-sectional view of the end effector of the surgicalinstrument of FIG. 155;

FIG. 159 is an exploded view of a cartridge, in accordance with at leastone aspect of the present disclosure;

FIG. 160 is a close-up of the perspective view of the cartridge of FIG.159;

FIG. 161 is a cross-sectional view of the cartridge of FIG. 159;

FIG. 162 is a perspective view of an anvil, in accordance with at leastone aspect of the present disclosure;

FIG. 163 is a schematic diagram depicting components of a surgicalinstrument connected to a radio frequency (RF) energy source;

FIG. 164 is a schematic diagram depicting a control circuit, inaccordance with at least one aspect of the present disclosure;

FIG. 165 is a schematic diagram of a surgical generator, in accordancewith at least one aspect of the present disclosure;

FIG. 166 is a schematic diagram of a surgical generator, in accordancewith at least one aspect of the present disclosure;

FIG. 167 is a logic flow diagram of a process 60160 depicting a controlprogram or a logic configuration for sealing tissue grasped by an endeffector, in accordance with at least one aspect of the presentdisclosure;

FIG. 168 is an exploded view of a cartridge, in accordance with at leastone aspect of the present disclosure;

FIG. 169 is a cross-sectional view of the cartridge of FIG. 168;

FIG. 170 is a cross-sectional view of the cartridge of FIG. 168;

FIG. 171 is a cross-sectional view of the anvil of FIG. 162;

FIG. 172 is a bottom view of an alternative anvil of the surgicalinstrument of FIG. 155;

FIG. 173 is an electrical diagram illustrating a simplified electricallayout of electrode assemblies of the surgical instrument of FIG. 155;

FIG. 174 is an electrical diagram illustrating an electrical layout ofan alternative electrode assembly of the surgical instrument of FIG.155;

FIG. 175 is a cross-sectional view of an alternative end effector of thesurgical instrument of FIG. 155;

FIG. 176 is a graph illustrating the change in resistance (Q) of a PTCsegment in response to a change in temperature (° C.), in accordancewith the at least one aspect of the present disclosure;

FIG. 177 is another graph illustrating the change in resistance (Q) of aPTC segment in response to a change in temperature (° C.), in accordancewith the at least one aspect of the present disclosure;

FIG. 178 is a graph depicting passive and independent control of acurrent through a tissue portion between electrode assemblies, inaccordance with at least one aspect of the present disclosure;

FIG. 179 is a graph illustrating a PTC segment's trip response atdifferent temperatures, in accordance with at least one aspect of thepresent disclosure;

FIG. 180 is a logic flow diagram of a process depicting a controlprogram or a logic configuration for detecting and addressing a shortcircuit during a tissue treatment cycle applied to tissue grasped by anend effector, in accordance with at least one aspect of the presentdisclosure;

FIG. 181 is a logic flow diagram of a process depicting a controlprogram or a logic configuration for a tissue treatment cycle applied totissue grasped by an end effector, in accordance with at least oneaspect of the present disclosure;

FIG. 182 is a graph representing a power scheme for a tissue treatmentcycle and corresponding tissue impedance, in accordance with at leastone aspect of the present disclosure;

FIG. 183 is a cross-sectional view of an alternative anvil, inaccordance with at least one aspect of the present disclosure;

FIG. 184 is another cross-sectional view of the anvil of FIG. 183;

FIG. 185 is a cross-sectional view of an alternative anvil, inaccordance with at least one aspect of the present disclosure;

FIG. 186 is another cross-sectional view of the anvil of FIG. 185;

FIG. 187 is a perspective of an electrode carrier of the anvil of FIG.183;

FIG. 188 is a cross-sectional view of an alternative anvil, inaccordance with at least one aspect of the present disclosure;

FIG. 189 is a schematic view of an alternative end effector of thesurgical instrument of FIG. 155;

FIG. 190 is an electrical diagram illustrating an electrical layout ofan electrode assembly of the end effector of FIG. 189;

FIG. 191 is an electrical diagram illustrating an electrical layout ofan electrode assembly of the end effector of FIG. 189;

FIG. 192 is a logic flow diagram of a process depicting a controlprogram or a logic configuration, in accordance with at least one aspectof the present disclosure;

FIG. 193 is a logic flow diagram of a process depicting a controlprogram or a logic configuration, in accordance with at least one aspectof the present disclosure;

FIG. 194 is a logic flow diagram of a process depicting a controlprogram or a logic configuration, in accordance with at least one aspectof the present disclosure;

FIG. 195 is a logic flow diagram of a process depicting a controlprogram or a logic configuration, in accordance with at least one aspectof the present disclosure;

FIG. 196 is a graph representing an interrogation of a first tissueportion, in accordance with the process of FIG. 195;

FIG. 197 is a graph illustrating an energy profile, or therapeuticsignal, the graph depicting tissue impedance, voltage, power, andcurrent curves associated with application of the therapeutic signal totissue grasped by an end effector, in accordance with at least oneaspect of the present disclosure;

FIG. 198 is a graph illustrating an energy profile, or therapeuticsignal, the graph depicting tissue impedance, voltage, power, andcurrent curves associated with application of the therapeutic signal totissue grasped by an end effector, in accordance with at least oneaspect of the present disclosure;

FIG. 199 is a graph illustrating an energy profile, or therapeuticsignal, the graph depicting tissue impedance, voltage, power, andcurrent curves associated with application of the therapeutic signal totissue grasped by an end effector, in accordance with at least oneaspect of the present disclosure;

FIG. 200 is a graph illustrating an energy profile, or therapeuticsignal, the graph depicting tissue impedance, voltage, power, andcurrent curves associated with application of the therapeutic signal totissue grasped by an end effector, in accordance with at least oneaspect of the present disclosure;

FIG. 201 is a graph illustrating an energy profile, or therapeuticsignal, the graph depicting tissue impedance, voltage, power, andcurrent curves associated with application of the therapeutic signal totissue grasped by an end effector, in accordance with at least oneaspect of the present disclosure;

FIG. 202 is a graph illustrating an energy profile, or therapeuticsignal, the graph depicting tissue impedance, voltage, power, andcurrent curves associated with application of the therapeutic signal totissue grasped by an end effector, in accordance with at least oneaspect of the present disclosure;

FIG. 203 is a graph illustrating an energy profile, or therapeuticsignal, the graph depicting tissue impedance, voltage, power, andcurrent curves associated with application of the therapeutic signal totissue grasped by an end effector, in accordance with at least oneaspect of the present disclosure;

FIG. 204 is a logic flow diagram of a process depicting a controlprogram or a logic configuration, in accordance with at least one aspectof the present disclosure;

FIG. 205 is a logic flow diagram of a process depicting a controlprogram or a logic configuration, in accordance with at least one aspectof the present disclosure;

FIG. 206 is a logic flow diagram of a process depicting a controlprogram or a logic configuration, in accordance with at least one aspectof the present disclosure;

FIG. 207 is a logic flow diagram of a process depicting a controlprogram or a logic configuration, in accordance with at least one aspectof the present disclosure;

FIG. 208 is a partial perspective view of an end effector, in accordancewith at least one aspect of the present disclosure;

FIG. 209 is a cross-sectional view of the end effector of FIG. 208;

FIG. 210 is a close-up of the cross-sectional view of FIG. 208;

FIG. 211 is a logic flow diagram of a process depicting a controlprogram or a logic configuration, in accordance with at least one aspectof the present disclosure;

FIG. 212 is a logic flow diagram of a process depicting a controlprogram or a logic configuration, in accordance with at least one aspectof the present disclosure;

FIG. 213 illustrates a control system for a surgical instrumentcomprising a plurality of motors which can be activated to performvarious functions, in accordance with at least one aspect of the presentdisclosure;

FIG. 214 shows a jaw of an end effector for the surgical instrumentdescribed in FIGS. 1-13 where the electrode shown in FIG. 6 isconfigured with multiple pairs of segmented RF electrodes disposed on acircuit board, or other type of suitable substrate, on a lower surfaceof the jaw (i.e., the surface of the jaw facing tissue duringoperation), in accordance with at least one aspect of the presentdisclosure;

FIG. 215 illustrates a multi-layer circuit board, in accordance with atleast one aspect of the present disclosure;

FIG. 216 shows segmented electrodes on either side of the knife slot inthe jaw have different lengths, in accordance with at least one aspectof the present disclosure;

FIG. 217 is a cross-sectional view of an end effector comprising aplurality of segmented electrodes, in accordance with at least oneaspect of the present disclosure;

FIG. 218 shows a jaw of an end effector for the surgical instrumentdescribed in FIGS. 1-13 and 214 where multiple pairs of segmented RFelectrodes include a series current limiting element Z within the distalportion of the end effector for each electrode, in accordance with atleast one aspect of the present disclosure;

FIG. 219 is a graphical representation of exploratory pulse waveformsapplied by the RF generator under control of the controller to anelectrode to detect a metallic object shorting the electrode and thereturn path electrode, in accordance with at least one aspect of thepresent disclosure;

FIG. 220 is a detailed view of the exploratory pulse waveforms appliedto an electrode during a shorting event, in accordance with at least oneaspect of the present disclosure;

FIG. 221 is a graphical representations of exploratory pulse waveformsapplied to an electrode prior to firing or delivering therapeutic RFenergy to seal tissue grasped between the jaws of the end effector, inaccordance with at least one aspect of the present disclosure;

FIG. 222 is a detailed view depicting the pulsed impedance waveformapplied to tissue having an impedance of approximately 2Ω, in accordancewith at least one aspect of the present disclosure;

FIG. 223 depicts the application of a first example of low powerexploratory pulse waveforms prior to firing or activating RF sealingenergy in liver tissue that includes a metallic staple located in thefield causing a short between an electrode and a return path electrode,in accordance with at least one aspect of the present disclosure;

FIG. 224A is a detailed view of the impedance waveform component of theexploratory pulse waveforms during a transition to a short circuitbetween the electrode and the return path electrode, in accordance withat least one aspect of the present disclosure;

FIG. 224B is a detailed view of the power waveform component of theexploratory pulse waveforms during a transition to a short circuitbetween the electrode and the return path electrode, in accordance withat least one aspect of the present disclosure;

FIG. 224C is a detailed view of the voltage waveform component of theexploratory pulse waveforms during a transition to a short circuitbetween the electrode and the return path electrode, in accordance withat least one aspect of the present disclosure;

FIG. 224D is a detailed view of the current waveform component of theexploratory pulse waveforms during a transition to a short circuitbetween the electrode and the return path electrode, in accordance withat least one aspect of the present disclosure;

FIG. 225 depicts the application of a second example of low powerexploratory pulse waveforms prior to firing or activating RF sealingenergy in liver tissue that includes a metallic staple located in thefield causing a short between an electrode and a return path electrode,in accordance with at least one aspect of the present disclosure;

FIG. 226A is a detailed view of the impedance waveform component of theexploratory pulse waveforms during a transition to a short circuitbetween the electrode and the return path electrode, in accordance withat least one aspect of the present disclosure;

FIG. 226B is a detailed view of the power waveform component of theexploratory pulse waveforms during a transition to a short circuitbetween the electrode and the return path electrode, in accordance withat least one aspect of the present disclosure;

FIG. 226C is a detailed view of the voltage waveform component of theexploratory pulse waveforms during a transition to a short circuitbetween the electrode and the return path electrode, in accordance withat least one aspect of the present disclosure;

FIG. 226D is a detailed view of the current waveform component of theexploratory pulse waveforms during a transition to a short circuitbetween the electrode and the return path electrode, in accordance withat least one aspect of the present disclosure;

FIG. 227 depicts the application of a second example of low powerexploratory pulse waveforms prior to firing or activating RF sealingenergy in liver tissue that includes a metallic staple located in thefield causing a short between an electrode and a return path electrode,in accordance with at least one aspect of the present disclosure;

FIG. 228A is a detailed view of the impedance waveform component of theexploratory pulse waveforms during a transition to a short circuitbetween the electrode and the return path electrode, in accordance withat least one aspect of the present disclosure;

FIG. 228B is a detailed view of the power waveform component of theexploratory pulse waveforms during a transition to a short circuitbetween the electrode and the return path electrode, in accordance withat least one aspect of the present disclosure;

FIG. 228C is a detailed view of the voltage waveform component of theexploratory pulse waveforms during a transition to a short circuitbetween the electrode and the return path electrode, in accordance withat least one aspect of the present disclosure;

FIG. 228D is a detailed view of a current waveform component of anexploratory pulse waveform during a transition to a short circuitbetween an electrode and a return path electrode, in accordance with atleast one aspect of the present disclosure;

FIG. 229 is a graphical depiction of impedance, voltage, and currentversus time (t), in accordance with at least one aspect of the presentdisclosure;

FIG. 230 is a graphical depiction of an electric arcing charge across a1.8 cm gap in a 0.8 cm² area relative to current and voltage waveforms,in accordance with at least one aspect of the present disclosure;

FIG. 231 is a graphical depiction of electric discharge regimes as afunction of voltage versus current, where current (Amps) is along thehorizontal axis and voltage (Volts) is along the vertical axis, inaccordance with at least one aspect of the present disclosure;

FIG. 232 is a graphical depiction of power (Watts) as a function ofimpedance (Ohms) of various tissue types, in accordance with at leastone aspect of the present disclosure;

FIG. 233 is a logic flow diagram of a method of detecting a shortcircuit in the jaws of an end effector of a surgical instrument (seeFIGS. 1-6 and 213-218), in accordance with at least one aspect of thepresent disclosure;

FIG. 234 is a logic flow diagram of a method of detecting a shortcircuit in the jaws of an end effector of a surgical instrument (seeFIGS. 1-6 and 213-218), in accordance with at least one aspect of thepresent disclosure;

FIG. 235 shows a dielectric polarization plot where polarization (P) isa linear function of external electric field (E), in accordance with atleast aspect of the present disclosure;

FIG. 236 shows a paraelectric polarization plot where polarization (P)is a non-linear function of external electric field (E) exhibiting asharp transition from negative to positive polarization at the origin,in accordance with at least aspect of the present disclosure;

FIG. 237 shows ferroelectric polarization plot where polarization (P) isa non-linear function of external electric field (E) exhibitinghysteresis around the origin, in accordance with at least aspect of thepresent disclosure;

FIG. 238 is logic flow diagram of a method of adapting energy modalitydue to a short circuit or tissue type grasped in the jaws of an endeffector of a surgical instrument, in accordance with at least oneaspect of the present disclosure; and

FIG. 239 illustrates a staple comprising a crown defining a base anddeformable legs extending from each end of the base, in accordance withat least one aspect of the present disclosure.

Corresponding reference characters indicate corresponding partsthroughout the several views. The exemplifications set out hereinillustrate various embodiments of the invention, in one form, and suchexemplifications are not to be construed as limiting the scope of theinvention in any manner.

DETAILED DESCRIPTION

Applicant of the present application also owns the following U.S. patentapplications that were filed on even date herewith and which are eachherein incorporated by reference in their respective entireties:

-   -   U.S. patent application, entitled METHOD FOR OPERATING A        SURGICAL INSTRUMENT INCLUDING SEGMENTED ELECTRODES; Attorney        Docket No. END9297USNP1/200845-1M;    -   U.S. patent application, entitled STAPLE CARTRIDGE COMPRISING        STAPLE DRIVERS AND STABILITY SUPPORTS; Attorney Docket No.        END9297USNP2/200845-2;    -   U.S. patent application, entitled STAPLE CARTRIDGE COMPRISING        FORMATION SUPPORT FEATURES; Attorney Docket No.        END9297USNP3/200845-3;    -   U.S. patent application, entitled INTERCHANGEABLE END EFFECTOR        RELOADS; Attorney Docket No. END9297USNP4/200845-4;    -   U.S. patent application, entitled SURGICAL INSTRUMENT COMPRISING        A ROTATION-DRIVEN AND TRANSLATION-DRIVEN TISSUE CUTTING KNIFE;        Attorney Docket No. END9297USNP5/200845-5;    -   U.S. patent application, entitled SURGICAL INSTRUMENT COMPRISING        A CLOSURE BAR AND A FIRING BAR; Attorney Docket No.        END9297USNP6/200845-6;    -   U.S. patent application, entitled SURGICAL INSTRUMENT COMPRISING        END EFFECTOR WITH LONGITUDINAL SEALING STEP; Attorney Docket No.        END9297USNP7/200845-7;    -   U.S. patent application, entitled SURGICAL INSTRUMENT COMPRISING        END EFFECTOR WITH ENERGY SENSITIVE RESISTANCE ELEMENTS; Attorney        Docket No. END9297USNP8/200845-8;    -   U.S. patent application, entitled SURGICAL INSTRUMENT COMPRISING        INDEPENDENTLY ACTIVATABLE SEGMENTED ELECTRODES; Attorney Docket        No. END9297USNP9/200845-9;    -   U.S. patent application, entitled SURGICAL SYSTEMS CONFIGURED TO        CONTROL THERAPEUTIC ENERGY APPLICATION TO TISSUE BASED ON        CARTRIDGE AND TISSUE PARAMETERS; Attorney Docket No.        END9297USNP10/200845-10;    -   U.S. patent application, entitled ELECTROSURGICAL TECHNIQUES FOR        SEALING, SHORT CIRCUIT DETECTION, AND SYSTEM DETERMINATION OF        POWER LEVEL; Attorney Docket No. END9297USNP11/200845-11;    -   U.S. patent application, entitled ELECTROSURGICAL ADAPTATION        TECHNIQUES OF ENERGY MODALITY FOR COMBINATION ELECTROSURGICAL        INSTRUMENTS BASED ON SHORTING OR TISSUE IMPEDANCE IRREGULARITY;        Attorney Docket No. END9297USNP12/200845-12;    -   U.S. patent application, entitled SURGICAL STAPLE FOR USE WITH        COMBINATION ELECTROSURGICAL INSTRUMENTS; Attorney Docket No.        END9297USNP13/200845-13;    -   U.S. patent application, entitled SURGICAL SYSTEMS CONFIGURED TO        COOPERATIVELY CONTROL END EFFECTOR FUNCTION AND APPLICATION OF        THERAPEUTIC ENERGY; Attorney Docket No. END9297USNP14/200845-14;        and    -   U.S. patent application, entitled SHAFT SYSTEM FOR SURGICAL        INSTRUMENT; Attorney Docket No. END9297USNP16/200845-16.

Applicant of the present application also owns the following U.S. patentapplications that were filed on Feb. 26, 2021 and which are each hereinincorporated by reference in their respective entireties:

-   -   U.S. patent application Ser. No. 17/186,269, entitled METHOD OF        POWERING AND COMMUNICATING WITH A STAPLE CARTRIDGE;    -   U.S. patent application Ser. No. 17/186,273, entitled METHOD OF        POWERING AND COMMUNICATING WITH A STAPLE CARTRIDGE;    -   U.S. patent application Ser. No. 17/186,276, entitled ADJUSTABLE        COMMUNICATION BASED ON AVAILABLE BANDWIDTH AND POWER CAPACITY;    -   U.S. patent application Ser. No. 17/186,283, entitled ADJUSTMENT        TO TRANSFER PARAMETERS TO IMPROVE AVAILABLE POWER;    -   U.S. patent application Ser. No. 17/186,345, entitled MONITORING        OF MANUFACTURING LIFE-CYCLE;    -   U.S. patent application Ser. No. 17/186,350, entitled MONITORING        OF MULTIPLE SENSORS OVER TIME TO DETECT MOVING CHARACTERISTICS        OF TISSUE;    -   U.S. patent application Ser. No. 17/186,353, entitled MONITORING        OF INTERNAL SYSTEMS TO DETECT AND TRACK CARTRIDGE MOTION STATUS;    -   U.S. patent application Ser. No. 17/186,357, entitled DISTAL        COMMUNICATION ARRAY TO TUNE FREQUENCY OF RF SYSTEMS;    -   U.S. patent application Ser. No. 17/186,364, entitled STAPLE        CARTRIDGE COMPRISING A SENSOR ARRAY;    -   U.S. patent application Ser. No. 17/186,373, entitled STAPLE        CARTRIDGE COMPRISING A SENSING ARRAY AND A TEMPERATURE CONTROL        SYSTEM;    -   U.S. patent application Ser. No. 17/186,378, entitled STAPLE        CARTRIDGE COMPRISING AN INFORMATION ACCESS CONTROL SYSTEM;    -   U.S. patent application Ser. No. 17/186,407, entitled STAPLE        CARTRIDGE COMPRISING A POWER MANAGEMENT CIRCUIT;    -   U.S. patent application Ser. No. 17/186,421, entitled STAPLING        INSTRUMENT COMPRISING A SEPARATE POWER ANTENNA AND A DATA        TRANSFER ANTENNA;    -   U.S. patent application Ser. No. 17/186,438, entitled SURGICAL        INSTRUMENT SYSTEM COMPRISING A POWER TRANSFER COIL; and    -   U.S. patent application Ser. No. 17/186,451, entitled STAPLING        INSTRUMENT COMPRISING A SIGNAL ANTENNA.

Applicant of the present application also owns the following U.S. patentapplications that were filed on Oct. 29, 2020 and which are each hereinincorporated by reference in their respective entireties:

-   -   U.S. patent application Ser. No. 17/084,179, entitled SURGICAL        INSTRUMENT COMPRISING A RELEASABLE CLOSURE DRIVE LOCK;    -   U.S. patent application Ser. No. 17/084,190, entitled SURGICAL        INSTRUMENT COMPRISING A STOWED CLOSURE ACTUATOR STOP;    -   U.S. patent application Ser. No. 17/084,198, entitled SURGICAL        INSTRUMENT COMPRISING AN INDICATOR WHICH INDICATES THAT AN        ARTICULATION DRIVE IS ACTUATABLE;    -   U.S. patent application Ser. No. 17/084,205, entitled SURGICAL        INSTRUMENT COMPRISING AN ARTICULATION INDICATOR;    -   U.S. patent application Ser. No. 17/084,258, entitled METHOD FOR        OPERATING A SURGICAL INSTRUMENT;    -   U.S. patent application Ser. No. 17/084,206, entitled SURGICAL        INSTRUMENT COMPRISING AN ARTICULATION LOCK;    -   U.S. patent application Ser. No. 17/084,215, entitled SURGICAL        INSTRUMENT COMPRISING A JAW ALIGNMENT SYSTEM;    -   U.S. patent application Ser. No. 17/084,229, entitled SURGICAL        INSTRUMENT COMPRISING SEALABLE INTERFACE;    -   U.S. patent application Ser. No. 17/084,180, entitled SURGICAL        INSTRUMENT COMPRISING A LIMITED TRAVEL SWITCH;    -   U.S. Design patent application Ser. No. 29/756,615, application        entitled SURGICAL STAPLING ASSEMBLY;    -   U.S. Design patent application Ser. No. 29/756,620, entitled        SURGICAL STAPLING ASSEMBLY;    -   U.S. patent application Ser. No. 17/084,188, entitled SURGICAL        INSTRUMENT COMPRISING A STAGED VOLTAGE REGULATION START-UP        SYSTEM; and    -   U.S. patent application Ser. No. 17/084,193, entitled SURGICAL        INSTRUMENT COMPRISING A SENSOR CONFIGURED TO SENSE WHETHER AN        ARTICULATION DRIVE OF THE SURGICAL INSTRUMENT IS ACTUATABLE.

Applicant of the present application also owns the following U.S. patentapplications that were filed on Apr. 11, 2020 and which are each hereinincorporated by reference in their respective entireties:

-   -   U.S. patent application Ser. No. 16/846,303, entitled METHODS        FOR STAPLING TISSUE USING A SURGICAL INSTRUMENT, now U.S. Patent        Application Publication No. 2020/0345353;    -   U.S. patent application Ser. No. 16/846,304, entitled        ARTICULATION ACTUATORS FOR A SURGICAL INSTRUMENT, now U.S.        Patent Application Publication No. 2020/0345354;    -   U.S. patent application Ser. No. 16/846,305, entitled        ARTICULATION DIRECTIONAL LIGHTS ON A SURGICAL INSTRUMENT, now        U.S. Patent Application Publication No. 2020/0345446;    -   U.S. patent application Ser. No. 16/846,307, entitled SHAFT        ROTATION ACTUATOR ON A SURGICAL INSTRUMENT, now U.S. Patent        Application Publication No. 2020/03453549;    -   U.S. patent application Ser. No. 16/846,308, entitled        ARTICULATION CONTROL MAPPING FOR A SURGICAL INSTRUMENT, now U.S.        Patent Application Publication No. 2020/0345355;    -   U.S. patent application Ser. No. 16/846,309, entitled        INTELLIGENT FIRING ASSOCIATED WITH A SURGICAL INSTRUMENT, now        U.S. Patent Application Publication No. 2020/0345356;    -   U.S. patent application Ser. No. 16/846,310, entitled        INTELLIGENT FIRING ASSOCIATED WITH A SURGICAL INSTRUMENT, now        U.S. Patent Application Publication No. 2020/0345357;    -   U.S. patent application Ser. No. 16/846,311, entitled ROTATABLE        JAW TIP FOR A SURGICAL INSTRUMENT, now U.S. Patent Application        Publication No. 2020/0345358;    -   U.S. patent application Ser. No. 16/846,312, entitled TISSUE        STOP FOR A SURGICAL INSTRUMENT, now U.S. Patent Application        Publication No. 2020/0345359; and    -   U.S. patent application Ser. No. 16/846,313, entitled        ARTICULATION PIN FOR A SURGICAL INSTRUMENT, now U.S. Patent        Application Publication No. 2020/0345360.

The entire disclosure of U.S. Provisional Patent Application Ser. No.62/840,715, entitled SURGICAL INSTRUMENT COMPRISING AN ADAPTIVE CONTROLSYSTEM, filed Apr. 30, 2019, is hereby incorporated by reference herein.

Applicant of the present application owns the following U.S. patentapplications that were filed on Feb. 21, 2019 and which are each hereinincorporated by reference in their respective entireties:

-   -   U.S. patent application Ser. No. 16/281,658, entitled METHODS        FOR CONTROLLING A POWERED SURGICAL STAPLER THAT HAS SEPARATE        ROTARY CLOSURE AND FIRING SYSTEMS, now U.S. Patent Application        Publication No. 2019/0298350;    -   U.S. patent application Ser. No. 16/281,670, entitled STAPLE        CARTRIDGE COMPRISING A LOCKOUT KEY CONFIGURED TO LIFT A FIRING        MEMBER, now U.S. Patent Application Publication No.        2019/0298340;    -   U.S. patent application Ser. No. 16/281,675, entitled SURGICAL        STAPLERS WITH ARRANGEMENTS FOR MAINTAINING A FIRING MEMBER        THEREOF IN A LOCKED CONFIGURATION UNLESS A COMPATIBLE CARTRIDGE        HAS BEEN INSTALLED THEREIN, now U.S. Patent Application        Publication No. 2019/0298354;    -   U.S. patent application Ser. No. 16/281,685, entitled SURGICAL        INSTRUMENT COMPRISING CO-OPERATING LOCKOUT FEATURES, now U.S.        Patent Application Publication No. 2019/0298341;    -   U.S. patent application Ser. No. 16/281,693, entitled SURGICAL        STAPLING ASSEMBLY COMPRISING A LOCKOUT AND AN EXTERIOR ACCESS        ORIFICE TO PERMIT ARTIFICIAL UNLOCKING OF THE LOCKOUT, now U.S.        Patent Application Publication No. 2019/0298342;    -   U.S. patent application Ser. No. 16/281,704, entitled SURGICAL        STAPLING DEVICES WITH FEATURES FOR BLOCKING ADVANCEMENT OF A        CAMMING ASSEMBLY OF AN INCOMPATIBLE CARTRIDGE INSTALLED THEREIN,        now U.S. Patent Application Publication No. 2019/0298356;    -   U.S. patent application Ser. No. 16/281,707, entitled STAPLING        INSTRUMENT COMPRISING A DEACTIVATABLE LOCKOUT, now U.S. Patent        Application Publication No. 2019/0298347;    -   U.S. patent application Ser. No. 16/281,741, entitled SURGICAL        INSTRUMENT COMPRISING A JAW CLOSURE LOCKOUT, now U.S. Patent        Application Publication No. 2019/0298357;    -   U.S. patent application Ser. No. 16/281,762, entitled SURGICAL        STAPLING DEVICES WITH CARTRIDGE COMPATIBLE CLOSURE AND FIRING        LOCKOUT ARRANGEMENTS, now U.S. Patent Application Publication        No. 2019/0298343;    -   U.S. patent application Ser. No. 16/281,666, entitled SURGICAL        STAPLING DEVICES WITH IMPROVED ROTARY DRIVEN CLOSURE SYSTEMS,        now U.S. Patent Application Publication No. 2019/0298352;    -   U.S. patent application Ser. No. 16/281,672, entitled SURGICAL        STAPLING DEVICES WITH ASYMMETRIC CLOSURE FEATURES, now U.S.        Patent Application Publication No. 2019/0298353;    -   U.S. patent application Ser. No. 16/281,678, entitled ROTARY        DRIVEN FIRING MEMBERS WITH DIFFERENT ANVIL AND CHANNEL        ENGAGEMENT FEATURES, now U.S. Patent Application Publication No.        2019/0298355; and    -   U.S. patent application Ser. No. 16/281,682, entitled SURGICAL        STAPLING DEVICE WITH SEPARATE ROTARY DRIVEN CLOSURE AND FIRING        SYSTEMS AND FIRING MEMBER THAT ENGAGES BOTH JAWS WHILE FIRING,        now U.S. Patent Application Publication No. 2019/0298346.

Applicant of the present application owns the following U.S. Provisionalpatent applications that were filed on Feb. 19, 2019 and which are eachherein incorporated by reference in their respective entireties:

-   -   U.S. Provisional Patent Application Ser. No. 62/807,310,        entitled METHODS FOR CONTROLLING A POWERED SURGICAL STAPLER THAT        HAS SEPARATE ROTARY CLOSURE AND FIRING SYSTEMS;    -   U.S. Provisional Patent Application Ser. No. 62/807,319,        entitled SURGICAL STAPLING DEVICES WITH IMPROVED LOCKOUT        SYSTEMS; and    -   U.S. Provisional Patent Application Ser. No. 62/807,309,        entitled SURGICAL STAPLING DEVICES WITH IMPROVED ROTARY DRIVEN        CLOSURE SYSTEMS.

Applicant of the present application owns the following U.S. Provisionalpatent applications, filed on Mar. 28, 2018, each of which is hereinincorporated by reference in its entirety:

-   -   U.S. Provisional Patent Application Ser. No. 62/649,302,        entitled INTERACTIVE SURGICAL SYSTEMS WITH ENCRYPTED        COMMUNICATION CAPABILITIES;    -   U.S. Provisional Patent Application Ser. No. 62/649,294,        entitled DATA STRIPPING METHOD TO INTERROGATE PATIENT RECORDS        AND CREATE ANONYMIZED RECORD;    -   U.S. Provisional Patent Application Ser. No. 62/649,300,        entitled SURGICAL HUB SITUATIONAL AWARENESS;    -   U.S. Provisional Patent Application Ser. No. 62/649,309,        entitled SURGICAL HUB SPATIAL AWARENESS TO DETERMINE DEVICES IN        OPERATING THEATER;    -   U.S. Provisional Patent Application Ser. No. 62/649,310,        entitled COMPUTER IMPLEMENTED INTERACTIVE SURGICAL SYSTEMS;    -   U.S. Provisional Patent Application Ser. No. 62/649,291,        entitled USE OF LASER LIGHT AND RED-GREEN-BLUE COLORATION TO        DETERMINE PROPERTIES OF BACK SCATTERED LIGHT;    -   U.S. Provisional Patent Application Ser. No. 62/649,296,        entitled ADAPTIVE CONTROL PROGRAM UPDATES FOR SURGICAL DEVICES;    -   U.S. Provisional Patent Application Ser. No. 62/649,333,        entitled CLOUD-BASED MEDICAL ANALYTICS FOR CUSTOMIZATION AND        RECOMMENDATIONS TO A USER;    -   U.S. Provisional Patent Application Ser. No. 62/649,327,        entitled CLOUD-BASED MEDICAL ANALYTICS FOR SECURITY AND        AUTHENTICATION TRENDS AND REACTIVE MEASURES;    -   U.S. Provisional Patent Application Ser. No. 62/649,315,        entitled DATA HANDLING AND PRIORITIZATION IN A CLOUD ANALYTICS        NETWORK;    -   U.S. Provisional Patent Application Ser. No. 62/649,313,        entitled CLOUD INTERFACE FOR COUPLED SURGICAL DEVICES;    -   U.S. Provisional Patent Application Ser. No. 62/649,320,        entitled DRIVE ARRANGEMENTS FOR ROBOT-ASSISTED SURGICAL        PLATFORMS;    -   U.S. Provisional Patent Application Ser. No. 62/649,307,        entitled AUTOMATIC TOOL ADJUSTMENTS FOR ROBOT-ASSISTED SURGICAL        PLATFORMS; and    -   U.S. Provisional Patent Application Ser. No. 62/649,323,        entitled SENSING ARRANGEMENTS FOR ROBOT-ASSISTED SURGICAL        PLATFORMS.

Applicant of the present application owns the following U.S. ProvisionalPatent Application, filed on Mar. 30, 2018, which is herein incorporatedby reference in its entirety:

-   -   U.S. Provisional Patent Application Ser. No. 62/650,887,        entitled SURGICAL SYSTEMS WITH OPTIMIZED SENSING CAPABILITIES.

Applicant of the present application owns the following U.S. patentapplication, filed on Dec. 4, 2018, which is herein incorporated byreference in its entirety:

-   -   U.S. patent application Ser. No. 16/209,423, entitled METHOD OF        COMPRESSING TISSUE WITHIN A STAPLING DEVICE AND SIMULTANEOUSLY        DISPLAYING THE LOCATION OF THE TISSUE WITHIN THE JAWS, now U.S.        Patent Application Publication No. 2019/0200981.

Applicant of the present application owns the following U.S. patentapplications that were filed on Aug. 20, 2018 and which are each hereinincorporated by reference in their respective entireties:

-   -   U.S. patent application Ser. No. 16/105,101, entitled METHOD FOR        FABRICATING SURGICAL STAPLER ANVILS, now U.S. Patent Application        Publication No. 2020/0054323;    -   U.S. patent application Ser. No. 16/105,183, entitled REINFORCED        DEFORMABLE ANVIL TIP FOR SURGICAL STAPLER ANVIL, now U.S. Pat.        No. 10,912,559;    -   U.S. patent application Ser. No. 16/105,150, entitled SURGICAL        STAPLER ANVILS WITH STAPLE DIRECTING PROTRUSIONS AND TISSUE        STABILITY FEATURES, now U.S. Patent Application Publication No.        2020/0054326;    -   U.S. patent application Ser. No. 16/105,098, entitled        FABRICATING TECHNIQUES FOR SURGICAL STAPLER ANVILS, now U.S.        Patent Application Publication No. 2020/0054322;    -   U.S. patent application Ser. No. 16/105,140, entitled SURGICAL        STAPLER ANVILS WITH TISSUE STOP FEATURES CONFIGURED TO AVOID        TISSUE PINCH, now U.S. Pat. No. 10,779,821;    -   U.S. patent application Ser. No. 16/105,081, entitled METHOD FOR        OPERATING A POWERED ARTICULATABLE SURGICAL INSTRUMENT, now U.S.        Patent Application Publication No. 2020/0054320;    -   U.S. patent application Ser. No. 16/105,094, entitled SURGICAL        INSTRUMENTS WITH PROGRESSIVE JAW CLOSURE ARRANGEMENTS, now U.S.        Patent Application Publication No. 2020/0054321;    -   U.S. patent application Ser. No. 16/105,097, entitled POWERED        SURGICAL INSTRUMENTS WITH CLUTCHING ARRANGEMENTS TO CONVERT        LINEAR DRIVE MOTIONS TO ROTARY DRIVE MOTIONS, now U.S. Patent        Application Publication No. 2020/0054328;    -   U.S. patent application Ser. No. 16/105,104, entitled POWERED        ARTICULATABLE SURGICAL INSTRUMENTS WITH CLUTCHING AND LOCKING        ARRANGEMENTS FOR LINKING AN ARTICULATION DRIVE SYSTEM TO A        FIRING DRIVE SYSTEM, now U.S. Pat. No. 10,842,492;    -   U.S. patent application Ser. No. 16/105,119, entitled        ARTICULATABLE MOTOR POWERED SURGICAL INSTRUMENTS WITH DEDICATED        ARTICULATION MOTOR ARRANGEMENTS, now U.S. Patent Application        Publication No. 2020/0054330;    -   U.S. patent application Ser. No. 16/105,160, entitled SWITCHING        ARRANGEMENTS FOR MOTOR POWERED ARTICULATABLE SURGICAL        INSTRUMENTS, now U.S. Pat. No. 10,856,870; and    -   U.S. Design patent application Ser. No. 29/660,252, entitled        SURGICAL STAPLER ANVILS.

Applicant of the present application owns the following U.S. patentapplications and U.S. patents that are each herein incorporated byreference in their respective entireties:

-   -   U.S. patent application Ser. No. 15/386,185, entitled SURGICAL        STAPLING INSTRUMENTS AND REPLACEABLE TOOL ASSEMBLIES THEREOF,        now U.S. Pat. No. 10,639,035;    -   U.S. patent application Ser. No. 15/386,230, entitled        ARTICULATABLE SURGICAL STAPLING INSTRUMENTS, now U.S. Patent        Application Publication No. 2018/0168649;    -   U.S. patent application Ser. No. 15/386,221, entitled LOCKOUT        ARRANGEMENTS FOR SURGICAL END EFFECTORS, now U.S. Pat. No.        10,835,247;    -   U.S. patent application Ser. No. 15/386,209, entitled SURGICAL        END EFFECTORS AND FIRING MEMBERS THEREOF, now U.S. Pat. No.        10,588,632;    -   U.S. patent application Ser. No. 15/386,198, entitled LOCKOUT        ARRANGEMENTS FOR SURGICAL END EFFECTORS AND REPLACEABLE TOOL        ASSEMBLIES, now U.S. Pat. No. 10,610,224;    -   U.S. patent application Ser. No. 15/386,240, entitled SURGICAL        END EFFECTORS AND ADAPTABLE FIRING MEMBERS THEREFOR, now U.S.        Patent Application Publication No. 2018/0168651;    -   U.S. patent application Ser. No. 15/385,939, entitled STAPLE        CARTRIDGES AND ARRANGEMENTS OF STAPLES AND STAPLE CAVITIES        THEREIN, now U.S. Pat. No. 10,835,246;    -   U.S. patent application Ser. No. 15/385,941, entitled SURGICAL        TOOL ASSEMBLIES WITH CLUTCHING ARRANGEMENTS FOR SHIFTING BETWEEN        CLOSURE SYSTEMS WITH CLOSURE STROKE REDUCTION FEATURES AND        ARTICULATION AND FIRING SYSTEMS, now U.S. Pat. No. 10,736,629;    -   U.S. patent application Ser. No. 15/385,943, entitled SURGICAL        STAPLING INSTRUMENTS AND STAPLE-FORMING ANVILS, now U.S. Pat.        No. 10,667,811;    -   U.S. patent application Ser. No. 15/385,950, entitled SURGICAL        TOOL ASSEMBLIES WITH CLOSURE STROKE REDUCTION FEATURES, now U.S.        Pat. No. 10,588,630;    -   U.S. patent application Ser. No. 15/385,945, entitled STAPLE        CARTRIDGES AND ARRANGEMENTS OF STAPLES AND STAPLE CAVITIES        THEREIN, now U.S. Pat. No. 10,893,864;    -   U.S. patent application Ser. No. 15/385,946, entitled SURGICAL        STAPLING INSTRUMENTS AND STAPLE-FORMING ANVILS, now U.S. Patent        Application Publication No. 2018/0168633;    -   U.S. patent application Ser. No. 15/385,951, entitled SURGICAL        INSTRUMENTS WITH JAW OPENING FEATURES FOR INCREASING A JAW        OPENING DISTANCE, now U.S. Pat. No. 10,568,626;    -   U.S. patent application Ser. No. 15/385,953, entitled METHODS OF        STAPLING TISSUE, now U.S. Pat. No. 10,675,026;    -   U.S. patent application Ser. No. 15/385,954, entitled FIRING        MEMBERS WITH NON-PARALLEL JAW ENGAGEMENT FEATURES FOR SURGICAL        END EFFECTORS, now U.S. Pat. No. 10,624,635;    -   U.S. patent application Ser. No. 15/385,955, entitled SURGICAL        END EFFECTORS WITH EXPANDABLE TISSUE STOP ARRANGEMENTS, now U.S.        Pat. No. 10,813,638;    -   U.S. patent application Ser. No. 15/385,948, entitled SURGICAL        STAPLING INSTRUMENTS AND STAPLE-FORMING ANVILS, now U.S. Patent        Application Publication No. 2018/0168584;    -   U.S. patent application Ser. No. 15/385,956, entitled SURGICAL        INSTRUMENTS WITH POSITIVE JAW OPENING FEATURES, now U.S. Pat.        No. 10,588,631;    -   U.S. patent application Ser. No. 15/385,958, entitled SURGICAL        INSTRUMENTS WITH LOCKOUT ARRANGEMENTS FOR PREVENTING FIRING        SYSTEM ACTUATION UNLESS AN UNSPENT STAPLE CARTRIDGE IS PRESENT,        now U.S. Pat. No. 10,639,034;    -   U.S. patent application Ser. No. 15/385,947, entitled STAPLE        CARTRIDGES AND ARRANGEMENTS OF STAPLES AND STAPLE CAVITIES        THEREIN, now U.S. Pat. No. 10,568,625;    -   U.S. patent application Ser. No. 15/385,896, entitled METHOD FOR        RESETTING A FUSE OF A SURGICAL INSTRUMENT SHAFT, now U.S. Patent        Application Publication No. 2018/0168597;    -   U.S. patent application Ser. No. 15/385,898, entitled        STAPLE-FORMING POCKET ARRANGEMENT TO ACCOMMODATE DIFFERENT TYPES        OF STAPLES, now U.S. Pat. No. 10,537,325;    -   U.S. patent application Ser. No. 15/385,899, entitled SURGICAL        INSTRUMENT COMPRISING IMPROVED JAW CONTROL, now U.S. Pat. No.        10,758,229;    -   U.S. patent application Ser. No. 15/385,901, entitled STAPLE        CARTRIDGE AND STAPLE CARTRIDGE CHANNEL COMPRISING WINDOWS        DEFINED THEREIN, now U.S. Pat. No. 10,667,809;    -   U.S. patent application Ser. No. 15/385,902, entitled SURGICAL        INSTRUMENT COMPRISING A CUTTING MEMBER, now U.S. Pat. No.        10,888,322;    -   U.S. patent application Ser. No. 15/385,904, entitled STAPLE        FIRING MEMBER COMPRISING A MISSING CARTRIDGE AND/OR SPENT        CARTRIDGE LOCKOUT, now U.S. Pat. No. 10,881,401;    -   U.S. patent application Ser. No. 15/385,905, entitled FIRING        ASSEMBLY COMPRISING A LOCKOUT, now U.S. Pat. No. 10,695,055;    -   U.S. patent application Ser. No. 15/385,907, entitled SURGICAL        INSTRUMENT SYSTEM COMPRISING AN END EFFECTOR LOCKOUT AND A        FIRING ASSEMBLY LOCKOUT, now U.S. Patent Application Publication        No. 2018/0168608;    -   U.S. patent application Ser. No. 15/385,908, entitled FIRING        ASSEMBLY COMPRISING A FUSE, now U.S. Patent Application        Publication No. 2018/0168609;    -   U.S. patent application Ser. No. 15/385,909, entitled FIRING        ASSEMBLY COMPRISING A MULTIPLE FAILED-STATE FUSE, now U.S.        Patent Application Publication No. 2018/0168610;    -   U.S. patent application Ser. No. 15/385,920, entitled        STAPLE-FORMING POCKET ARRANGEMENTS, now U.S. Pat. No.        10,499,914;    -   U.S. patent application Ser. No. 15/385,913, entitled ANVIL        ARRANGEMENTS FOR SURGICAL STAPLERS, now U.S. Patent Application        Publication No. 2018/0168614;    -   U.S. patent application Ser. No. 15/385,914, entitled METHOD OF        DEFORMING STAPLES FROM TWO DIFFERENT TYPES OF STAPLE CARTRIDGES        WITH THE SAME SURGICAL STAPLING INSTRUMENT, now U.S. Patent        Application Publication No. 2018/0168615;    -   U.S. patent application Ser. No. 15/385,893, entitled        BILATERALLY ASYMMETRIC STAPLE-FORMING POCKET PAIRS, now U.S.        Pat. No. 10,682,138;    -   U.S. patent application Ser. No. 15/385,929, entitled CLOSURE        MEMBERS WITH CAM SURFACE ARRANGEMENTS FOR SURGICAL INSTRUMENTS        WITH SEPARATE AND DISTINCT CLOSURE AND FIRING SYSTEMS, now U.S.        Pat. No. 10,667,810;    -   U.S. patent application Ser. No. 15/385,911, entitled SURGICAL        STAPLERS WITH INDEPENDENTLY ACTUATABLE CLOSING AND FIRING        SYSTEMS, now U.S. Pat. No. 10,448,950;    -   U.S. patent application Ser. No. 15/385,927, entitled SURGICAL        STAPLING INSTRUMENTS WITH SMART STAPLE CARTRIDGES, now U.S.        Patent Application Publication No. 2018/0168625;    -   U.S. patent application Ser. No. 15/385,917, entitled STAPLE        CARTRIDGE COMPRISING STAPLES WITH DIFFERENT CLAMPING BREADTHS,        now U.S. Patent Application Publication No. 2018/0168617;    -   U.S. patent application Ser. No. 15/385,900, entitled        STAPLE-FORMING POCKET ARRANGEMENTS COMPRISING PRIMARY SIDEWALLS        AND POCKET SIDEWALLS, now U.S. Pat. No. 10,898,186;    -   U.S. patent application Ser. No. 15/385,931, entitled        NO-CARTRIDGE AND SPENT CARTRIDGE LOCKOUT ARRANGEMENTS FOR        SURGICAL STAPLERS, now U.S. Patent Application Publication No.        2018/0168627;    -   U.S. patent application Ser. No. 15/385,915, entitled FIRING        MEMBER PIN ANGLE, now U.S. Pat. No. 10,779,823;    -   U.S. patent application Ser. No. 15/385,897, entitled        STAPLE-FORMING POCKET ARRANGEMENTS COMPRISING ZONED FORMING        SURFACE GROOVES, now U.S. Patent Application Publication No.        2018/0168598;    -   U.S. patent application Ser. No. 15/385,922, entitled SURGICAL        INSTRUMENT WITH MULTIPLE FAILURE RESPONSE MODES, now U.S. Pat.        No. 10,426,471;    -   U.S. patent application Ser. No. 15/385,924, entitled SURGICAL        INSTRUMENT WITH PRIMARY AND SAFETY PROCESSORS, now U.S. Pat. No.        10,758,230;    -   U.S. patent application Ser. No. 15/385,910, entitled ANVIL        HAVING A KNIFE SLOT WIDTH, now U.S. Pat. No. 10,485,543;    -   U.S. patent application Ser. No. 15/385,903, entitled CLOSURE        MEMBER ARRANGEMENTS FOR SURGICAL INSTRUMENTS, now U.S. Pat. No.        10,617,414;    -   U.S. patent application Ser. No. 15/385,906, entitled FIRING        MEMBER PIN CONFIGURATIONS, now U.S. Pat. No. 10,856,868;    -   U.S. patent application Ser. No. 15/386,188, entitled STEPPED        STAPLE CARTRIDGE WITH ASYMMETRICAL STAPLES, now U.S. Pat. No.        10,537,324;    -   U.S. patent application Ser. No. 15/386,192, entitled STEPPED        STAPLE CARTRIDGE WITH TISSUE RETENTION AND GAP SETTING FEATURES,        now U.S. Pat. No. 10,687,810;    -   U.S. patent application Ser. No. 15/386,206, entitled STAPLE        CARTRIDGE WITH DEFORMABLE DRIVER RETENTION FEATURES, now U.S.        Patent Application Publication No. 2018/0168586;    -   U.S. patent application Ser. No. 15/386,226, entitled DURABILITY        FEATURES FOR END EFFECTORS AND FIRING ASSEMBLIES OF SURGICAL        STAPLING INSTRUMENTS, now U.S. Patent Application Publication        No. 2018/0168648;    -   U.S. patent application Ser. No. 15/386,222, entitled SURGICAL        STAPLING INSTRUMENTS HAVING END EFFECTORS WITH POSITIVE OPENING        FEATURES, now U.S. Patent Application Publication No.        2018/0168647;    -   U.S. patent application Ser. No. 15/386,236, entitled CONNECTION        PORTIONS FOR DEPOSABLE LOADING UNITS FOR SURGICAL STAPLING        INSTRUMENTS, now U.S. Patent Application Publication No.        2018/0168650;    -   U.S. patent application Ser. No. 15/385,887, entitled METHOD FOR        ATTACHING A SHAFT ASSEMBLY TO A SURGICAL INSTRUMENT AND,        ALTERNATIVELY, TO A SURGICAL ROBOT, now U.S. Pat. No.        10,835,245;    -   U.S. patent application Ser. No. 15/385,889, entitled SHAFT        ASSEMBLY COMPRISING A MANUALLY-OPERABLE RETRACTION SYSTEM FOR        USE WITH A MOTORIZED SURGICAL INSTRUMENT SYSTEM, now U.S. Patent        Application Publication No. 2018/0168590;    -   U.S. patent application Ser. No. 15/385,890, entitled SHAFT        ASSEMBLY COMPRISING SEPARATELY ACTUATABLE AND RETRACTABLE        SYSTEMS, now U.S. Pat. No. 10,675,025;    -   U.S. patent application Ser. No. 15/385,891, entitled SHAFT        ASSEMBLY COMPRISING A CLUTCH CONFIGURED TO ADAPT THE OUTPUT OF A        ROTARY FIRING MEMBER TO TWO DIFFERENT SYSTEMS, now U.S. Patent        Application Publication No. 2018/0168592;    -   U.S. patent application Ser. No. 15/385,892, entitled SURGICAL        SYSTEM COMPRISING A FIRING MEMBER ROTATABLE INTO AN ARTICULATION        STATE TO ARTICULATE AN END EFFECTOR OF THE SURGICAL SYSTEM, now        U.S. Pat. No. 10,918,385;    -   U.S. patent application Ser. No. 15/385,894, entitled SHAFT        ASSEMBLY COMPRISING A LOCKOUT, now U.S. Pat. No. 10,492,785;    -   U.S. patent application Ser. No. 15/385,895, entitled SHAFT        ASSEMBLY COMPRISING FIRST AND SECOND ARTICULATION LOCKOUTS, now        U.S. Pat. No. 10,542,982;    -   U.S. patent application Ser. No. 15/385,916, entitled SURGICAL        STAPLING SYSTEMS, now U.S. Patent Application Publication No.        2018/0168575;    -   U.S. patent application Ser. No. 15/385,918, entitled SURGICAL        STAPLING SYSTEMS, now U.S. Patent Application Publication No.        2018/0168618;    -   U.S. patent application Ser. No. 15/385,919, entitled SURGICAL        STAPLING SYSTEMS, now U.S. Patent Application Publication No.        2018/0168619;    -   U.S. patent application Ser. No. 15/385,921, entitled SURGICAL        STAPLE CARTRIDGE WITH MOVABLE CAMMING MEMBER CONFIGURED TO        DISENGAGE FIRING MEMBER LOCKOUT FEATURES, now U.S. Pat. No.        10,687,809;    -   U.S. patent application Ser. No. 15/385,923, entitled SURGICAL        STAPLING SYSTEMS, now U.S. Patent Application Publication No.        2018/0168623;    -   U.S. patent application Ser. No. 15/385,925, entitled JAW        ACTUATED LOCK ARRANGEMENTS FOR PREVENTING ADVANCEMENT OF A        FIRING MEMBER IN A SURGICAL END EFFECTOR UNLESS AN UNFIRED        CARTRIDGE IS INSTALLED IN THE END EFFECTOR, now U.S. Pat. No.        10,517,595;    -   U.S. patent application Ser. No. 15/385,926, entitled AXIALLY        MOVABLE CLOSURE SYSTEM ARRANGEMENTS FOR APPLYING CLOSURE MOTIONS        TO JAWS OF SURGICAL INSTRUMENTS, now U.S. Patent Application        Publication No. 2018/0168577;    -   U.S. patent application Ser. No. 15/385,928, entitled PROTECTIVE        COVER ARRANGEMENTS FOR A JOINT INTERFACE BETWEEN A MOVABLE JAW        AND ACTUATOR SHAFT OF A SURGICAL INSTRUMENT, now U.S. Patent        Application Publication No. 2018/0168578;    -   U.S. patent application Ser. No. 15/385,930, entitled SURGICAL        END EFFECTOR WITH TWO SEPARATE COOPERATING OPENING FEATURES FOR        OPENING AND CLOSING END EFFECTOR JAWS, now U.S. Patent        Application Publication No. 2018/0168579;    -   U.S. patent application Ser. No. 15/385,932, entitled        ARTICULATABLE SURGICAL END EFFECTOR WITH ASYMMETRIC SHAFT        ARRANGEMENT, now U.S. Patent Application Publication No.        2018/0168628;    -   U.S. patent application Ser. No. 15/385,933, entitled        ARTICULATABLE SURGICAL INSTRUMENT WITH INDEPENDENT PIVOTABLE        LINKAGE DISTAL OF AN ARTICULATION LOCK, now U.S. Pat. No.        10,603,036;    -   U.S. patent application Ser. No. 15/385,934, entitled        ARTICULATION LOCK ARRANGEMENTS FOR LOCKING AN END EFFECTOR IN AN        ARTICULATED POSITION IN RESPONSE TO ACTUATION OF A JAW CLOSURE        SYSTEM, now U.S. Pat. No. 10,582,928;    -   U.S. patent application Ser. No. 15/385,935, entitled LATERALLY        ACTUATABLE ARTICULATION LOCK ARRANGEMENTS FOR LOCKING AN END        EFFECTOR OF A SURGICAL INSTRUMENT IN AN ARTICULATED        CONFIGURATION, now U.S. Pat. No. 10,524,789;    -   U.S. patent application Ser. No. 15/385,936, entitled        ARTICULATABLE SURGICAL INSTRUMENTS WITH ARTICULATION STROKE        AMPLIFICATION FEATURES, now U.S. Pat. No. 10,517,596;    -   U.S. patent application Ser. No. 14/318,996, entitled FASTENER        CARTRIDGES INCLUDING EXTENSIONS HAVING DIFFERENT CONFIGURATIONS,        now U.S. Patent Application Publication No. 2015/0297228;    -   U.S. patent application Ser. No. 14/319,006, entitled FASTENER        CARTRIDGE COMPRISING FASTENER CAVITIES INCLUDING FASTENER        CONTROL FEATURES, now U.S. Pat. No. 10,010,324;    -   U.S. patent application Ser. No. 14/318,991, entitled SURGICAL        FASTENER CARTRIDGES WITH DRIVER STABILIZING ARRANGEMENTS, now        U.S. Pat. No. 9,833,241;    -   U.S. patent application Ser. No. 14/319,004, entitled SURGICAL        END EFFECTORS WITH FIRING ELEMENT MONITORING ARRANGEMENTS, now        U.S. Pat. No. 9,844,369;    -   U.S. patent application Ser. No. 14/319,008, entitled FASTENER        CARTRIDGE COMPRISING NON-UNIFORM FASTENERS, now U.S. Pat. No.        10,299,792;    -   U.S. patent application Ser. No. 14/318,997, entitled FASTENER        CARTRIDGE COMPRISING DEPLOYABLE TISSUE ENGAGING MEMBERS, now        U.S. Pat. No. 10,561,422;    -   U.S. patent application Ser. No. 14/319,002, entitled FASTENER        CARTRIDGE COMPRISING TISSUE CONTROL FEATURES, now U.S. Pat. No.        9,877,721;    -   U.S. patent application Ser. No. 14/319,013, entitled FASTENER        CARTRIDGE ASSEMBLIES AND STAPLE RETAINER COVER ARRANGEMENTS, now        U.S. Patent Application Publication No. 2015/0297233; and    -   U.S. patent application Ser. No. 14/319,016, entitled FASTENER        CARTRIDGE INCLUDING A LAYER ATTACHED THERETO, now U.S. Pat. No.        10,470,768.

Applicant of the present application owns the following U.S. patentapplications that were filed on Jun. 24, 2016 and which are each hereinincorporated by reference in their respective entireties:

-   -   U.S. patent application Ser. No. 15/191,775, entitled STAPLE        CARTRIDGE COMPRISING WIRE STAPLES AND STAMPED STAPLES, now U.S.        Patent Application Publication No. 2017/0367695;    -   U.S. patent application Ser. No. 15/191,807, entitled STAPLING        SYSTEM FOR USE WITH WIRE STAPLES AND STAMPED STAPLES, now U.S.        Pat. No. 10,702,270;    -   U.S. patent application Ser. No. 15/191,834, entitled STAMPED        STAPLES AND STAPLE CARTRIDGES USING THE SAME, now U.S. Pat. No.        10,542,979;    -   U.S. patent application Ser. No. 15/191,788, entitled STAPLE        CARTRIDGE COMPRISING OVERDRIVEN STAPLES, now U.S. Pat. No.        10,675,024; and    -   U.S. patent application Ser. No. 15/191,818, entitled STAPLE        CARTRIDGE COMPRISING OFFSET LONGITUDINAL STAPLE ROWS, now U.S.        Pat. No. 10,893,863.

Applicant of the present application owns the following U.S. patentapplications that were filed on Jun. 24, 2016 and which are each hereinincorporated by reference in their respective entireties:

-   -   U.S. Design patent application Ser. No. 29/569,218, entitled        SURGICAL FASTENER, now U.S. Design Pat. No. D826,405;    -   U.S. Design patent application Ser. No. 29/569,227, entitled        SURGICAL FASTENER, now U.S. Design Pat. No. D822,206;    -   U. S. Design patent application Ser. No. 29/569,259, entitled        SURGICAL FASTENER CARTRIDGE, now U.S. Design Pat. No. D847,989;        and    -   U.S. Design patent application Ser. No. 29/569,264, entitled        SURGICAL FASTENER CARTRIDGE, now U.S. Design Pat. No. D850,617.

Applicant of the present application owns the following patentapplications that were filed on Apr. 1, 2016 and which are each hereinincorporated by reference in their respective entirety:

-   -   U.S. patent application Ser. No. 15/089,325, entitled METHOD FOR        OPERATING A SURGICAL STAPLING SYSTEM, now U.S. Patent        Application Publication No. 2017/0281171;    -   U.S. patent application Ser. No. 15/089,321, entitled MODULAR        SURGICAL STAPLING SYSTEM COMPRISING A DISPLAY, now U.S. Pat. No.        10,271,851;    -   U.S. patent application Ser. No. 15/089,326, entitled SURGICAL        STAPLING SYSTEM COMPRISING A DISPLAY INCLUDING A RE-ORIENTABLE        DISPLAY FIELD, now U.S. Pat. No. 10,433,849;    -   U.S. patent application Ser. No. 15/089,263, entitled SURGICAL        INSTRUMENT HANDLE ASSEMBLY WITH RECONFIGURABLE GRIP PORTION, now        U.S. Pat. No. 10,307,159;    -   U.S. patent application Ser. No. 15/089,262, entitled ROTARY        POWERED SURGICAL INSTRUMENT WITH MANUALLY ACTUATABLE BAILOUT        SYSTEM, now U.S. Pat. No. 10,357,246;    -   U.S. patent application Ser. No. 15/089,277, entitled SURGICAL        CUTTING AND STAPLING END EFFECTOR WITH ANVIL CONCENTRIC DRIVE        MEMBER, now U.S. Pat. No. 10,531,874;    -   U.S. patent application Ser. No. 15/089,296, entitled        INTERCHANGEABLE SURGICAL TOOL ASSEMBLY WITH A SURGICAL END        EFFECTOR THAT IS SELECTIVELY ROTATABLE ABOUT A SHAFT AXIS, now        U.S. Pat. No. 10,413,293;    -   U.S. patent application Ser. No. 15/089,258, entitled SURGICAL        STAPLING SYSTEM COMPRISING A SHIFTABLE TRANSMISSION, now U.S.        Pat. No. 10,342,543;    -   U.S. patent application Ser. No. 15/089,278, entitled SURGICAL        STAPLING SYSTEM CONFIGURED TO PROVIDE SELECTIVE CUTTING OF        TISSUE, now U.S. Pat. No. 10,420,552;    -   U.S. patent application Ser. No. 15/089,284, entitled SURGICAL        STAPLING SYSTEM COMPRISING A CONTOURABLE SHAFT, now U.S. Patent        Application Publication No. 2017/0281186;    -   U.S. patent application Ser. No. 15/089,295, entitled SURGICAL        STAPLING SYSTEM COMPRISING A TISSUE COMPRESSION LOCKOUT, now        U.S. Pat. No. 10,856,867;    -   U.S. patent application Ser. No. 15/089,300, entitled SURGICAL        STAPLING SYSTEM COMPRISING AN UNCLAMPING LOCKOUT, now U.S. Pat.        No. 10,456,140;    -   U.S. patent application Ser. No. 15/089,196, entitled SURGICAL        STAPLING SYSTEM COMPRISING A JAW CLOSURE LOCKOUT, now U.S. Pat.        No. 10,568,632;    -   U.S. patent application Ser. No. 15/089,203, entitled SURGICAL        STAPLING SYSTEM COMPRISING A JAW ATTACHMENT LOCKOUT, now U.S.        Pat. No. 10,542,991;    -   U.S. patent application Ser. No. 15/089,210, entitled SURGICAL        STAPLING SYSTEM COMPRISING A SPENT CARTRIDGE LOCKOUT, now U.S.        Pat. No. 10,478,190;    -   U.S. patent application Ser. No. 15/089,324, entitled SURGICAL        INSTRUMENT COMPRISING A SHIFTING MECHANISM, now U.S. Pat. No.        10,314,582;    -   U.S. patent application Ser. No. 15/089,335, entitled SURGICAL        STAPLING INSTRUMENT COMPRISING MULTIPLE LOCKOUTS, now U.S. Pat.        No. 10,485,542;    -   U.S. patent application Ser. No. 15/089,339, entitled SURGICAL        STAPLING INSTRUMENT, now U.S. Patent Application Publication No.        2017/0281173;    -   U.S. patent application Ser. No. 15/089,253, entitled SURGICAL        STAPLING SYSTEM CONFIGURED TO APPLY ANNULAR ROWS OF STAPLES        HAVING DIFFERENT HEIGHTS, now U.S. Pat. No. 10,413,297;    -   U.S. patent application Ser. No. 15/089,304, entitled SURGICAL        STAPLING SYSTEM COMPRISING A GROOVED FORMING POCKET, now U.S.        Pat. No. 10,285,705;    -   U.S. patent application Ser. No. 15/089,331, entitled ANVIL        MODIFICATION MEMBERS FOR SURGICAL STAPLERS, now U.S. Pat. No.        10,376,263;    -   U.S. patent application Ser. No. 15/089,336, entitled STAPLE        CARTRIDGES WITH ATRAUMATIC FEATURES, now U.S. Pat. No.        10,709,446;    -   U.S. patent application Ser. No. 15/089,312, entitled CIRCULAR        STAPLING SYSTEM COMPRISING AN INCISABLE TISSUE SUPPORT, now U.S.        Patent Application Publication No. 2017/0281189;    -   U.S. patent application Ser. No. 15/089,309, entitled CIRCULAR        STAPLING SYSTEM COMPRISING ROTARY FIRING SYSTEM, now U.S. Pat.        No. 10,675,021; and    -   U.S. patent application Ser. No. 15/089,349, entitled CIRCULAR        STAPLING SYSTEM COMPRISING LOAD CONTROL, now U.S. Pat. No.        10,682,136.

Applicant of the present application also owns the U.S. patentapplications identified below which were filed on Dec. 30, 2015 whichare each herein incorporated by reference in their respective entirety:

-   -   U.S. patent application Ser. No. 14/984,488, entitled MECHANISMS        FOR COMPENSATING FOR BATTERY PACK FAILURE IN POWERED SURGICAL        INSTRUMENTS, now U.S. Pat. No. 10,292,704;    -   U.S. patent application Ser. No. 14/984,525, entitled MECHANISMS        FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWERED SURGICAL        INSTRUMENTS, now U.S. Pat. No. 10,368,865; and    -   U.S. patent application Ser. No. 14/984,552, entitled SURGICAL        INSTRUMENTS WITH SEPARABLE MOTORS AND MOTOR CONTROL CIRCUITS,        now U.S. Pat. No. 10,265,068.

Applicant of the present application also owns the U.S. patentapplications identified below which were filed on Feb. 9, 2016, whichare each herein incorporated by reference in their respective entirety:

-   -   U.S. patent application Ser. No. 15/019,220, entitled SURGICAL        INSTRUMENT WITH ARTICULATING AND AXIALLY TRANSLATABLE END        EFFECTOR, now U.S. Pat. No. 10,245,029;    -   U.S. patent application Ser. No. 15/019,228, entitled SURGICAL        INSTRUMENTS WITH MULTIPLE LINK ARTICULATION ARRANGEMENTS, now        U.S. Pat. No. 10,433,837;    -   U.S. patent application Ser. No. 15/019,196, entitled SURGICAL        INSTRUMENT ARTICULATION MECHANISM WITH SLOTTED SECONDARY        CONSTRAINT, now U.S. Pat. No. 10,413,291;    -   U.S. patent application Ser. No. 15/019,206, entitled SURGICAL        INSTRUMENTS WITH AN END EFFECTOR THAT IS HIGHLY ARTICULATABLE        RELATIVE TO AN ELONGATE SHAFT ASSEMBLY, now U.S. Pat. No.        10,653,413;    -   U.S. patent application Ser. No. 15/019,215, entitled SURGICAL        INSTRUMENTS WITH NON-SYMMETRICAL ARTICULATION ARRANGEMENTS, now        U.S. Patent Application Publication No. 2017/0224332;    -   U.S. patent application Ser. No. 15/019,227, entitled        ARTICULATABLE SURGICAL INSTRUMENTS WITH SINGLE ARTICULATION LINK        ARRANGEMENTS, now U.S. Patent Application Publication No.        2017/0224334;    -   U.S. patent application Ser. No. 15/019,235, entitled SURGICAL        INSTRUMENTS WITH TENSIONING ARRANGEMENTS FOR CABLE DRIVEN        ARTICULATION SYSTEMS, now U.S. Pat. No. 10,245,030;    -   U.S. patent application Ser. No. 15/019,230, entitled        ARTICULATABLE SURGICAL INSTRUMENTS WITH OFF-AXIS FIRING BEAM        ARRANGEMENTS, now U.S. Pat. No. 10,588,625; and    -   U.S. patent application Ser. No. 15/019,245, entitled SURGICAL        INSTRUMENTS WITH CLOSURE STROKE REDUCTION ARRANGEMENTS, now U.S.        Pat. No. 10,470,764.

Applicant of the present application also owns the U.S. patentapplications identified below which were filed on Feb. 12, 2016, whichare each herein incorporated by reference in their respective entirety:

-   -   U.S. patent application Ser. No. 15/043,254, entitled MECHANISMS        FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWERED SURGICAL        INSTRUMENTS, now U.S. Pat. No. 10,258,331;    -   U.S. patent application Ser. No. 15/043,259, entitled MECHANISMS        FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWERED SURGICAL        INSTRUMENTS, now U.S. Pat. No. 10,448,948;    -   U.S. patent application Ser. No. 15/043,275, entitled MECHANISMS        FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWERED SURGICAL        INSTRUMENTS, now U.S. Patent Application Publication No.        2017/0231627; and    -   U.S. patent application Ser. No. 15/043,289, entitled MECHANISMS        FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWERED SURGICAL        INSTRUMENTS, now U.S. Patent Application Publication No.        2017/0231628.

Applicant of the present application owns the following patentapplications that were filed on Jun. 18, 2015 and which are each hereinincorporated by reference in their respective entirety:

-   -   U.S. patent application Ser. No. 14/742,925, entitled SURGICAL        END EFFECTORS WITH POSITIVE JAW OPENING ARRANGEMENTS, now U.S.        Pat. No. 10,182,818;    -   U.S. patent application Ser. No. 14/742,941, entitled SURGICAL        END EFFECTORS WITH DUAL CAM ACTUATED JAW CLOSING FEATURES, now        U.S. Pat. No. 10,052,102;    -   U.S. patent application Ser. No. 14/742,933, entitled SURGICAL        STAPLING INSTRUMENTS WITH LOCKOUT ARRANGEMENTS FOR PREVENTING        FIRING SYSTEM ACTUATION WHEN A CARTRIDGE IS SPENT OR MISSING,        now U.S. Pat. No. 10,154,841;    -   U.S. patent application Ser. No. 14/742,914, entitled MOVABLE        FIRING BEAM SUPPORT ARRANGEMENTS FOR ARTICULATABLE SURGICAL        INSTRUMENTS, now U.S. Pat. No. 10,405,863;    -   U.S. patent application Ser. No. 14/742,900, entitled        ARTICULATABLE SURGICAL INSTRUMENTS WITH COMPOSITE FIRING BEAM        STRUCTURES WITH CENTER FIRING SUPPORT MEMBER FOR ARTICULATION        SUPPORT, now U.S. Pat. No. 10,335,149;    -   U.S. patent application Ser. No. 14/742,885, entitled DUAL        ARTICULATION DRIVE SYSTEM ARRANGEMENTS FOR ARTICULATABLE        SURGICAL INSTRUMENTS, now U.S. Pat. No. 10,368,861; and    -   U.S. patent application Ser. No. 14/742,876, entitled PUSH/PULL        ARTICULATION DRIVE SYSTEMS FOR ARTICULATABLE SURGICAL        INSTRUMENTS, now U.S. Pat. No. 10,178,992.

Applicant of the present application owns the following patentapplications that were filed on Mar. 6, 2015 and which are each hereinincorporated by reference in their respective entirety:

-   -   U.S. patent application Ser. No. 14/640,746, entitled POWERED        SURGICAL INSTRUMENT, now U.S. Pat. No. 9,808,246;    -   U.S. patent application Ser. No. 14/640,795, entitled MULTIPLE        LEVEL THRESHOLDS TO MODIFY OPERATION OF POWERED SURGICAL        INSTRUMENTS, now U.S. Pat. No. 10,441,279;    -   U.S. patent application Ser. No. 14/640,832, entitled ADAPTIVE        TISSUE COMPRESSION TECHNIQUES TO ADJUST CLOSURE RATES FOR        MULTIPLE TISSUE TYPES, now U.S. Pat. No. 10,687,806;    -   U.S. patent application Ser. No. 14/640,935, entitled OVERLAID        MULTI SENSOR RADIO FREQUENCY (RF) ELECTRODE SYSTEM TO MEASURE        TISSUE COMPRESSION, now U.S. Pat. No. 10,548,504;    -   U.S. patent application Ser. No. 14/640,831, entitled MONITORING        SPEED CONTROL AND PRECISION INCREMENTING OF MOTOR FOR POWERED        SURGICAL INSTRUMENTS, now U.S. Pat. No. 9,895,148;    -   U.S. patent application Ser. No. 14/640,859, entitled TIME        DEPENDENT EVALUATION OF SENSOR DATA TO DETERMINE STABILITY,        CREEP, AND VISCOELASTIC ELEMENTS OF MEASURES, now U.S. Pat. No.        10,052,044;    -   U.S. patent application Ser. No. 14/640,817, entitled        INTERACTIVE FEEDBACK SYSTEM FOR POWERED SURGICAL INSTRUMENTS,        now U.S. Pat. No. 9,924,961;    -   U.S. patent application Ser. No. 14/640,844, entitled CONTROL        TECHNIQUES AND SUB-PROCESSOR CONTAINED WITHIN MODULAR SHAFT WITH        SELECT CONTROL PROCESSING FROM HANDLE, now U.S. Pat. No.        10,045,776;    -   U.S. patent application Ser. No. 14/640,837, entitled SMART        SENSORS WITH LOCAL SIGNAL PROCESSING, now U.S. Pat. No.        9,993,248;    -   U.S. patent application Ser. No. 14/640,765, entitled SYSTEM FOR        DETECTING THE MIS-INSERTION OF A STAPLE CARTRIDGE INTO A        SURGICAL STAPLER, now U.S. Pat. No. 10,617,412;    -   U.S. patent application Ser. No. 14/640,799, entitled SIGNAL AND        POWER COMMUNICATION SYSTEM POSITIONED ON A ROTATABLE SHAFT, now        U.S. Pat. No. 9,901,342; and    -   U.S. patent application Ser. No. 14/640,780, entitled SURGICAL        INSTRUMENT COMPRISING A LOCKABLE BATTERY HOUSING, now U.S. Pat.        No. 10,245,033.

Applicant of the present application owns the following patentapplications that were filed on Feb. 27, 2015, and which are each hereinincorporated by reference in their respective entirety:

-   -   U.S. patent application Ser. No. 14/633,576, entitled SURGICAL        INSTRUMENT SYSTEM COMPRISING AN INSPECTION STATION, now U.S.        Pat. No. 10,045,779;    -   U.S. patent application Ser. No. 14/633,546, entitled SURGICAL        APPARATUS CONFIGURED TO ASSESS WHETHER A PERFORMANCE PARAMETER        OF THE SURGICAL APPARATUS IS WITHIN AN ACCEPTABLE PERFORMANCE        BAND, now U.S. Pat. No. 10,180,463;    -   U.S. patent application Ser. No. 14/633,560, entitled SURGICAL        CHARGING SYSTEM THAT CHARGES AND/OR CONDITIONS ONE OR MORE        BATTERIES, now U.S. Patent Application Publication No.        2016/0249910;    -   U.S. patent application Ser. No. 14/633,566, entitled CHARGING        SYSTEM THAT ENABLES EMERGENCY RESOLUTIONS FOR CHARGING A        BATTERY, now U.S. Pat. No. 10,182,816;    -   U.S. patent application Ser. No. 14/633,555, entitled SYSTEM FOR        MONITORING WHETHER A SURGICAL INSTRUMENT NEEDS TO BE SERVICED,        now U.S. Pat. No. 10,321,907;    -   U.S. patent application Ser. No. 14/633,542, entitled REINFORCED        BATTERY FOR A SURGICAL INSTRUMENT, now U.S. Pat. No. 9,931,118;    -   U.S. patent application Ser. No. 14/633,548, entitled POWER        ADAPTER FOR A SURGICAL INSTRUMENT, now U.S. Pat. No. 10,245,028;    -   U.S. patent application Ser. No. 14/633,526, entitled ADAPTABLE        SURGICAL INSTRUMENT HANDLE, now U.S. Pat. No. 9,993,258;    -   U.S. patent application Ser. No. 14/633,541, entitled MODULAR        STAPLING ASSEMBLY, now U.S. Pat. No. 10,226,250; and    -   U.S. patent application Ser. No. 14/633,562, entitled SURGICAL        APPARATUS CONFIGURED TO TRACK AN END-OF-LIFE PARAMETER, now U.S.        Pat. No. 10,159,483.

Applicant of the present application owns the following patentapplications that were filed on Dec. 18, 2014 and which are each hereinincorporated by reference in their respective entirety:

-   -   U.S. patent application Ser. No. 14/574,478, entitled SURGICAL        INSTRUMENT SYSTEMS COMPRISING AN ARTICULATABLE END EFFECTOR AND        MEANS FOR ADJUSTING THE FIRING STROKE OF A FIRING MEMBER, now        U.S. Pat. No. 9,844,374;    -   U.S. patent application Ser. No. 14/574,483, entitled SURGICAL        INSTRUMENT ASSEMBLY COMPRISING LOCKABLE SYSTEMS, now U.S. Pat.        No. 10,188,385;    -   U.S. patent application Ser. No. 14/575,139, entitled DRIVE        ARRANGEMENTS FOR ARTICULATABLE SURGICAL INSTRUMENTS, now U.S.        Pat. No. 9,844,375;    -   U.S. patent application Ser. No. 14/575,148, entitled LOCKING        ARRANGEMENTS FOR DETACHABLE SHAFT ASSEMBLIES WITH ARTICULATABLE        SURGICAL END EFFECTORS, now U.S. Pat. No. 10,085,748;    -   U.S. patent application Ser. No. 14/575,130, entitled SURGICAL        INSTRUMENT WITH AN ANVIL THAT IS SELECTIVELY MOVABLE ABOUT A        DISCRETE NON-MOVABLE AXIS RELATIVE TO A STAPLE CARTRIDGE, now        U.S. Pat. No. 10,245,027;    -   U.S. patent application Ser. No. 14/575,143, entitled SURGICAL        INSTRUMENTS WITH IMPROVED CLOSURE ARRANGEMENTS, now U.S. Pat.        No. 10,004,501;    -   U.S. patent application Ser. No. 14/575,117, entitled SURGICAL        INSTRUMENTS WITH ARTICULATABLE END EFFECTORS AND MOVABLE FIRING        BEAM SUPPORT ARRANGEMENTS, now U.S. Pat. No. 9,943,309;    -   U.S. patent application Ser. No. 14/575,154, entitled SURGICAL        INSTRUMENTS WITH ARTICULATABLE END EFFECTORS AND IMPROVED FIRING        BEAM SUPPORT ARRANGEMENTS, now U.S. Pat. No. 9,968,355;    -   U.S. patent application Ser. No. 14/574,493, entitled SURGICAL        INSTRUMENT ASSEMBLY COMPRISING A FLEXIBLE ARTICULATION SYSTEM,        now U.S. Pat. No. 9,987,000; and    -   U.S. patent application Ser. No. 14/574,500, entitled SURGICAL        INSTRUMENT ASSEMBLY COMPRISING A LOCKABLE ARTICULATION SYSTEM,        now U.S. Pat. No. 10,117,649.

Applicant of the present application owns the following patentapplications that were filed on Mar. 1, 2013 and which are each hereinincorporated by reference in their respective entirety:

-   -   U.S. patent application Ser. No. 13/782,295, entitled        ARTICULATABLE SURGICAL INSTRUMENTS WITH CONDUCTIVE PATHWAYS FOR        SIGNAL COMMUNICATION, now U.S. Pat. No. 9,700,309;    -   U.S. patent application Ser. No. 13/782,323, entitled ROTARY        POWERED ARTICULATION JOINTS FOR SURGICAL INSTRUMENTS, now U.S.        Pat. No. 9,782,169;    -   U.S. patent application Ser. No. 13/782,338, entitled THUMBWHEEL        SWITCH ARRANGEMENTS FOR SURGICAL INSTRUMENTS, now U.S. Patent        Application Publication No. 2014/0249557;    -   U.S. patent application Ser. No. 13/782,499, entitled        ELECTROMECHANICAL SURGICAL DEVICE WITH SIGNAL RELAY ARRANGEMENT,        now U.S. Pat. No. 9,358,003;    -   U.S. patent application Ser. No. 13/782,460, entitled MULTIPLE        PROCESSOR MOTOR CONTROL FOR MODULAR SURGICAL INSTRUMENTS, now        U.S. Pat. No. 9,554,794;    -   U.S. patent application Ser. No. 13/782,358, entitled JOYSTICK        SWITCH ASSEMBLIES FOR SURGICAL INSTRUMENTS, now U.S. Pat. No.        9,326,767;    -   U.S. patent application Ser. No. 13/782,481, entitled SENSOR        STRAIGHTENED END EFFECTOR DURING REMOVAL THROUGH TROCAR, now        U.S. Pat. No. 9,468,438;    -   U.S. patent application Ser. No. 13/782,518, entitled CONTROL        METHODS FOR SURGICAL INSTRUMENTS WITH REMOVABLE IMPLEMENT        PORTIONS, now U.S. Patent Application Publication No.        2014/0246475;    -   U.S. patent application Ser. No. 13/782,375, entitled ROTARY        POWERED SURGICAL INSTRUMENTS WITH MULTIPLE DEGREES OF FREEDOM,        now U.S. Pat. No. 9,398,911; and    -   U.S. patent application Ser. No. 13/782,536, entitled SURGICAL        INSTRUMENT SOFT STOP, now U.S. Pat. No. 9,307,986.

Applicant of the present application also owns the following patentapplications that were filed on Mar. 14, 2013 and which are each hereinincorporated by reference in their respective entirety:

-   -   U.S. patent application Ser. No. 13/803,097, entitled        ARTICULATABLE SURGICAL INSTRUMENT COMPRISING A FIRING DRIVE, now        U.S. Pat. No. 9,687,230;    -   U.S. patent application Ser. No. 13/803,193, entitled CONTROL        ARRANGEMENTS FOR A DRIVE MEMBER OF A SURGICAL INSTRUMENT, now        U.S. Pat. No. 9,332,987;    -   U.S. patent application Ser. No. 13/803,053, entitled        INTERCHANGEABLE SHAFT ASSEMBLIES FOR USE WITH A SURGICAL        INSTRUMENT, now U.S. Pat. No. 9,883,860;    -   U.S. patent application Ser. No. 13/803,086, entitled        ARTICULATABLE SURGICAL INSTRUMENT COMPRISING AN ARTICULATION        LOCK, now U.S. Patent Application Publication No. 2014/0263541;    -   U.S. patent application Ser. No. 13/803,210, entitled SENSOR        ARRANGEMENTS FOR ABSOLUTE POSITIONING SYSTEM FOR SURGICAL        INSTRUMENTS, now U.S. Pat. No. 9,808,244;    -   U.S. patent application Ser. No. 13/803,148, entitled        MULTI-FUNCTION MOTOR FOR A SURGICAL INSTRUMENT, now U.S. Pat.        No. 10,470,762;    -   U.S. patent application Ser. No. 13/803,066, entitled DRIVE        SYSTEM LOCKOUT ARRANGEMENTS FOR MODULAR SURGICAL INSTRUMENTS,        now U.S. Pat. No. 9,629,623;    -   U.S. patent application Ser. No. 13/803,117, entitled        ARTICULATION CONTROL SYSTEM FOR ARTICULATABLE SURGICAL        INSTRUMENTS, now U.S. Pat. No. 9,351,726;    -   U.S. patent application Ser. No. 13/803,130, entitled DRIVE        TRAIN CONTROL ARRANGEMENTS FOR MODULAR SURGICAL INSTRUMENTS, now        U.S. Pat. No. 9,351,727; and    -   U.S. patent application Ser. No. 13/803,159, entitled METHOD AND        SYSTEM FOR OPERATING A SURGICAL INSTRUMENT, now U.S. Pat. No.        9,888,919.

Applicant of the present application also owns the following patentapplication that was filed on Mar. 7, 2014 and is herein incorporated byreference in its entirety:

-   -   U.S. patent application Ser. No. 14/200,111, entitled CONTROL        SYSTEMS FOR SURGICAL INSTRUMENTS, now U.S. Pat. No. 9,629,629.

Applicant of the present application also owns the following patentapplications that were filed on Mar. 26, 2014 and are each hereinincorporated by reference in their respective entirety:

-   -   U.S. patent application Ser. No. 14/226,106, entitled POWER        MANAGEMENT CONTROL SYSTEMS FOR SURGICAL INSTRUMENTS, now U.S.        Patent Application Publication No. 2015/0272582;    -   U.S. patent application Ser. No. 14/226,099, entitled        STERILIZATION VERIFICATION CIRCUIT, now U.S. Pat. No. 9,826,977;    -   U.S. patent application Ser. No. 14/226,094, entitled        VERIFICATION OF NUMBER OF BATTERY EXCHANGES/PROCEDURE COUNT, now        U.S. Patent Application Publication No. 2015/0272580;    -   U.S. patent application Ser. No. 14/226,117, entitled POWER        MANAGEMENT THROUGH SLEEP OPTIONS OF SEGMENTED CIRCUIT AND WAKE        UP CONTROL, now U.S. Pat. No. 10,013,049;    -   U.S. patent application Ser. No. 14/226,075, entitled MODULAR        POWERED SURGICAL INSTRUMENT WITH DETACHABLE SHAFT ASSEMBLIES,        now U.S. Pat. No. 9,743,929;    -   U.S. patent application Ser. No. 14/226,093, entitled FEEDBACK        ALGORITHMS FOR MANUAL BAILOUT SYSTEMS FOR SURGICAL INSTRUMENTS,        now U.S. Pat. No. 10,028,761;    -   U.S. patent application Ser. No. 14/226,116, entitled SURGICAL        INSTRUMENT UTILIZING SENSOR ADAPTATION, now U.S. Patent        Application Publication No. 2015/0272571;    -   U.S. patent application Ser. No. 14/226,071, entitled SURGICAL        INSTRUMENT CONTROL CIRCUIT HAVING A SAFETY PROCESSOR, now U.S.        Pat. No. 9,690,362;    -   U.S. patent application Ser. No. 14/226,097, entitled SURGICAL        INSTRUMENT COMPRISING INTERACTIVE SYSTEMS, now U.S. Pat. No.        9,820,738;    -   U.S. patent application Ser. No. 14/226,126, entitled INTERFACE        SYSTEMS FOR USE WITH SURGICAL INSTRUMENTS, now U.S. Pat. No.        10,004,497;    -   U.S. patent application Ser. No. 14/226,133, entitled MODULAR        SURGICAL INSTRUMENT SYSTEM, now U.S. Patent Application        Publication No. 2015/0272557;    -   U.S. patent application Ser. No. 14/226,081, entitled SYSTEMS        AND METHODS FOR CONTROLLING A SEGMENTED CIRCUIT, now U.S. Pat.        No. 9,804,618;    -   U.S. patent application Ser. No. 14/226,076, entitled POWER        MANAGEMENT THROUGH SEGMENTED CIRCUIT AND VARIABLE VOLTAGE        PROTECTION, now U.S. Pat. No. 9,733,663;    -   U.S. patent application Ser. No. 14/226,111, entitled SURGICAL        STAPLING INSTRUMENT SYSTEM, now U.S. Pat. No. 9,750,499; and    -   U.S. patent application Ser. No. 14/226,125, entitled SURGICAL        INSTRUMENT COMPRISING A ROTATABLE SHAFT, now U.S. Pat. No.        10,201,364.

Applicant of the present application also owns the following patentapplications that were filed on Sep. 5, 2014 and which are each hereinincorporated by reference in their respective entirety:

-   -   U.S. patent application Ser. No. 14/479,103, entitled CIRCUITRY        AND SENSORS FOR POWERED MEDICAL DEVICE, now U.S. Pat. No.        10,111,679;    -   U.S. patent application Ser. No. 14/479,119, entitled ADJUNCT        WITH INTEGRATED SENSORS TO QUANTIFY TISSUE COMPRESSION, now U.S.        Pat. No. 9,724,094;    -   U.S. patent application Ser. No. 14/478,908, entitled MONITORING        DEVICE DEGRADATION BASED ON COMPONENT EVALUATION, now U.S. Pat.        No. 9,737,301;    -   U.S. patent application Ser. No. 14/478,895, entitled MULTIPLE        SENSORS WITH ONE SENSOR AFFECTING A SECOND SENSOR'S OUTPUT OR        INTERPRETATION, now U.S. Pat. No. 9,757,128;    -   U.S. patent application Ser. No. 14/479,110, entitled POLARITY        OF HALL MAGNET TO IDENTIFY CARTRIDGE TYPE, now U.S. Pat. No.        10,016,199;    -   U.S. patent application Ser. No. 14/479,098, entitled SMART        CARTRIDGE WAKE UP OPERATION AND DATA RETENTION, now U.S. Pat.        No. 10,135,242;    -   U.S. patent application Ser. No. 14/479,115, entitled MULTIPLE        MOTOR CONTROL FOR POWERED MEDICAL DEVICE, now U.S. Pat. No.        9,788,836; and    -   U.S. patent application Ser. No. 14/479,108, entitled LOCAL        DISPLAY OF TISSUE PARAMETER STABILIZATION, now U.S. Patent        Application Publication No. 2016/0066913.

Applicant of the present application also owns the following patentapplications that were filed on Apr. 9, 2014 and which are each hereinincorporated by reference in their respective entirety:

-   -   U.S. patent application Ser. No. 14/248,590, entitled MOTOR        DRIVEN SURGICAL INSTRUMENTS WITH LOCKABLE DUAL DRIVE SHAFTS, now        U.S. Pat. No. 9,826,976;    -   U.S. patent application Ser. No. 14/248,581, entitled SURGICAL        INSTRUMENT COMPRISING A CLOSING DRIVE AND A FIRING DRIVE        OPERATED FROM THE SAME ROTATABLE OUTPUT, now U.S. Pat. No.        9,649,110;    -   U.S. patent application Ser. No. 14/248,595, entitled SURGICAL        SYSTEM COMPRISING FIRST AND SECOND DRIVE SYSTEMS, now U.S. Pat.        No. 9,844,368;    -   U.S. patent application Ser. No. 14/248,588, entitled POWERED        LINEAR SURGICAL STAPLER, now U.S. Pat. No. 10,405,857;    -   U.S. patent application Ser. No. 14/248,591, entitled SURGICAL        INSTRUMENT COMPRISING A GAP SETTING SYSTEM, now U.S. Pat. No.        10,149,680;    -   U.S. patent application Ser. No. 14/248,584, entitled MODULAR        MOTOR DRIVEN SURGICAL INSTRUMENTS WITH ALIGNMENT FEATURES FOR        ALIGNING ROTARY DRIVE SHAFTS WITH SURGICAL END EFFECTOR SHAFTS,        now U.S. Pat. No. 9,801,626;    -   U.S. patent application Ser. No. 14/248,587, entitled POWERED        SURGICAL STAPLER, now U.S. Pat. No. 9,867,612;    -   U.S. patent application Ser. No. 14/248,586, entitled DRIVE        SYSTEM DECOUPLING ARRANGEMENT FOR A SURGICAL INSTRUMENT, now        U.S. Pat. No. 10,136,887; and    -   U.S. patent application Ser. No. 14/248,607, entitled MODULAR        MOTOR DRIVEN SURGICAL INSTRUMENTS WITH STATUS INDICATION        ARRANGEMENTS, now U.S. Pat. No. 9,814,460.

Applicant of the present application also owns the following patentapplications that were filed on Apr. 16, 2013 and which are each hereinincorporated by reference in their respective entirety:

-   -   U.S. Provisional Patent Application Ser. No. 61/812,365,        entitled SURGICAL INSTRUMENT WITH MULTIPLE FUNCTIONS PERFORMED        BY A SINGLE MOTOR;    -   U.S. Provisional Patent Application Ser. No. 61/812,376,        entitled LINEAR CUTTER WITH POWER;    -   U.S. Provisional Patent Application Ser. No. 61/812,382,        entitled LINEAR CUTTER WITH MOTOR AND PISTOL GRIP;    -   U.S. Provisional Patent Application Ser. No. 61/812,385,        entitled SURGICAL INSTRUMENT HANDLE WITH MULTIPLE ACTUATION        MOTORS AND MOTOR CONTROL; and    -   U.S. Provisional Patent Application Ser. No. 61/812,372,        entitled SURGICAL INSTRUMENT WITH MULTIPLE FUNCTIONS PERFORMED        BY A SINGLE MOTOR.

Applicant of the present application owns the following U.S. Provisionalpatent applications, filed on Dec. 28, 2017, the disclosure of each ofwhich is herein incorporated by reference in its entirety:

-   -   U.S. Provisional Patent Application Ser. No. 62/611,341,        entitled INTERACTIVE SURGICAL PLATFORM;    -   U.S. Provisional Patent Application Ser. No. 62/611,340,        entitled CLOUD-BASED MEDICAL ANALYTICS; and    -   U.S. Provisional Patent Application Ser. No. 62/611,339,        entitled ROBOT ASSISTED SURGICAL PLATFORM.

Applicant of the present application owns the following U.S. Provisionalpatent applications, filed on Mar. 28, 2018, each of which is hereinincorporated by reference in its entirety:

-   -   U.S. Provisional Patent Application Ser. No. 62/649,302,        entitled INTERACTIVE SURGICAL SYSTEMS WITH ENCRYPTED        COMMUNICATION CAPABILITIES;    -   U.S. Provisional Patent Application Ser. No. 62/649,294,        entitled DATA STRIPPING METHOD TO INTERROGATE PATIENT RECORDS        AND CREATE ANONYMIZED RECORD;    -   U.S. Provisional Patent Application Ser. No. 62/649,300,        entitled SURGICAL HUB SITUATIONAL AWARENESS;    -   U.S. Provisional Patent Application Ser. No. 62/649,309,        entitled SURGICAL HUB SPATIAL AWARENESS TO DETERMINE DEVICES IN        OPERATING THEATER;    -   U.S. Provisional Patent Application Ser. No. 62/649,310,        entitled COMPUTER IMPLEMENTED INTERACTIVE SURGICAL SYSTEMS;    -   U.S. Provisional Patent Application Ser. No. 62/649,291,        entitled USE OF LASER LIGHT AND RED-GREEN-BLUE COLORATION TO        DETERMINE PROPERTIES OF BACK SCATTERED LIGHT;    -   U.S. Provisional Patent Application Ser. No. 62/649,296,        entitled ADAPTIVE CONTROL PROGRAM UPDATES FOR SURGICAL DEVICES;    -   U.S. Provisional Patent Application Ser. No. 62/649,333,        entitled CLOUD-BASED MEDICAL ANALYTICS FOR CUSTOMIZATION AND        RECOMMENDATIONS TO A USER;    -   U.S. Provisional Patent Application Ser. No. 62/649,327,        entitled CLOUD-BASED MEDICAL ANALYTICS FOR SECURITY AND        AUTHENTICATION TRENDS AND REACTIVE MEASURES;    -   U.S. Provisional Patent Application Ser. No. 62/649,315,        entitled DATA HANDLING AND PRIORITIZATION IN A CLOUD ANALYTICS        NETWORK;    -   U.S. Provisional Patent Application Ser. No. 62/649,313,        entitled CLOUD INTERFACE FOR COUPLED SURGICAL DEVICES;    -   U.S. Provisional Patent Application Ser. No. 62/649,320,        entitled DRIVE ARRANGEMENTS FOR ROBOT-ASSISTED SURGICAL        PLATFORMS;    -   U.S. Provisional Patent Application Ser. No. 62/649,307,        entitled AUTOMATIC TOOL ADJUSTMENTS FOR ROBOT-ASSISTED SURGICAL        PLATFORMS; and    -   U.S. Provisional Patent Application Ser. No. 62/649,323,        entitled SENSING ARRANGEMENTS FOR ROBOT-ASSISTED SURGICAL        PLATFORMS.

Applicant of the present application owns the following U.S. patentapplications, filed on Mar. 29, 2018, each of which is hereinincorporated by reference in its entirety:

-   -   U.S. patent application Ser. No. 15/940,641, entitled        INTERACTIVE SURGICAL SYSTEMS WITH ENCRYPTED COMMUNICATION        CAPABILITIES, now U.S. Patent Application Publication No.        2019/0207911;    -   U.S. patent application Ser. No. 15/940,648, entitled        INTERACTIVE SURGICAL SYSTEMS WITH CONDITION HANDLING OF DEVICES        AND DATA CAPABILITIES, now U.S. Patent Application Publication        No. 2019/0206004;    -   U.S. patent application Ser. No. 15/940,656, entitled SURGICAL        HUB COORDINATION OF CONTROL AND COMMUNICATION OF OPERATING ROOM        DEVICES, now U.S. Patent Application Publication No.        2019/0201141;    -   U.S. patent application Ser. No. 15/940,666, entitled SPATIAL        AWARENESS OF SURGICAL HUBS IN OPERATING ROOMS, now U.S. Patent        Application Publication No. 2019/0206551;    -   U.S. patent application Ser. No. 15/940,670, entitled        COOPERATIVE UTILIZATION OF DATA DERIVED FROM SECONDARY SOURCES        BY INTELLIGENT SURGICAL HUBS, now U.S. Patent Application        Publication No. 2019/0201116;    -   U.S. patent application Ser. No. 15/940,677, entitled SURGICAL        HUB CONTROL ARRANGEMENTS, now U.S. Patent Application        Publication No. 2019/0201143;    -   U.S. patent application Ser. No. 15/940,632, entitled DATA        STRIPPING METHOD TO INTERROGATE PATIENT RECORDS AND CREATE        ANONYMIZED RECORD, now U.S. Patent Application Publication No.        2019/0205566;    -   U.S. patent application Ser. No. 15/940,640, entitled        COMMUNICATION HUB AND STORAGE DEVICE FOR STORING PARAMETERS AND        STATUS OF A SURGICAL DEVICE TO BE SHARED WITH CLOUD BASED        ANALYTICS SYSTEMS, now U.S. Patent Application Publication No.        2019/0200863;    -   U.S. patent application Ser. No. 15/940,645, entitled SELF        DESCRIBING DATA PACKETS GENERATED AT AN ISSUING INSTRUMENT, now        U.S. Pat. No. 10,892,899;    -   U.S. patent application Ser. No. 15/940,649, entitled DATA        PAIRING TO INTERCONNECT A DEVICE MEASURED PARAMETER WITH AN        OUTCOME, now U.S. Patent Application Publication No.        2019/0205567;    -   U.S. patent application Ser. No. 15/940,654, entitled SURGICAL        HUB SITUATIONAL AWARENESS, now U.S. Patent Application        Publication No. 2019/0201140;    -   U.S. patent application Ser. No. 15/940,663, entitled SURGICAL        SYSTEM DISTRIBUTED PROCESSING, now U.S. Patent Application        Publication No. 2019/0201033;    -   U.S. patent application Ser. No. 15/940,668, entitled        AGGREGATION AND REPORTING OF SURGICAL HUB DATA, now U.S. Patent        Application Publication No. 2019/0201115;    -   U.S. patent application Ser. No. 15/940,671, entitled SURGICAL        HUB SPATIAL AWARENESS TO DETERMINE DEVICES IN OPERATING THEATER,        now U.S. Patent Application Publication No. 2019/0201104;    -   U.S. patent application Ser. No. 15/940,686, entitled DISPLAY OF        ALIGNMENT OF STAPLE CARTRIDGE TO PRIOR LINEAR STAPLE LINE, now        U.S. Patent Application Publication No. 2019/0201105;    -   U.S. patent application Ser. No. 15/940,700, entitled STERILE        FIELD INTERACTIVE CONTROL DISPLAYS, now U.S. Patent Application        Publication No. 2019/0205001;    -   U.S. patent application Ser. No. 15/940,629, entitled COMPUTER        IMPLEMENTED INTERACTIVE SURGICAL SYSTEMS, now U.S. Patent        Application Publication No. 2019/0201112;    -   U.S. patent application Ser. No. 15/940,704, entitled USE OF        LASER LIGHT AND RED-GREEN-BLUE COLORATION TO DETERMINE        PROPERTIES OF BACK SCATTERED LIGHT, now U.S. Patent Application        Publication No. 2019/0206050;    -   U.S. patent application Ser. No. 15/940,722, entitled        CHARACTERIZATION OF TISSUE IRREGULARITIES THROUGH THE USE OF        MONO-CHROMATIC LIGHT REFRACTIVITY, now U.S. Patent Application        Publication No. 2019/0200905; and    -   U.S. patent application Ser. No. 15/940,742, entitled DUAL CMOS        ARRAY IMAGING, now U.S. Patent Application Publication No.        2019/0200906.

Applicant of the present application owns the following U.S. patentapplications, filed on Mar. 29, 2018, each of which is hereinincorporated by reference in its entirety:

-   -   U.S. patent application Ser. No. 15/940,636, entitled ADAPTIVE        CONTROL PROGRAM UPDATES FOR SURGICAL DEVICES, now U.S. Patent        Application Publication No. 2019/0206003;    -   U.S. patent application Ser. No. 15/940,653, entitled ADAPTIVE        CONTROL PROGRAM UPDATES FOR SURGICAL HUBS, now U.S. Patent        Application Publication No. 2019/0201114;    -   U.S. patent application Ser. No. 15/940,660, entitled        CLOUD-BASED MEDICAL ANALYTICS FOR CUSTOMIZATION AND        RECOMMENDATIONS TO A USER, now U.S. Patent Application        Publication No. 2019/0206555;    -   U.S. patent application Ser. No. 15/940,679, entitled        CLOUD-BASED MEDICAL ANALYTICS FOR LINKING OF LOCAL USAGE TRENDS        WITH THE RESOURCE ACQUISITION BEHAVIORS OF LARGER DATA SET, now        U.S. Patent Application Publication No. 2019/0201144;    -   U.S. patent application Ser. No. 15/940,694, entitled        CLOUD-BASED MEDICAL ANALYTICS FOR MEDICAL FACILITY SEGMENTED        INDIVIDUALIZATION OF INSTRUMENT FUNCTION, now U.S. Patent        Application Publication No. 2019/0201119;    -   U.S. patent application Ser. No. 15/940,634, entitled        CLOUD-BASED MEDICAL ANALYTICS FOR SECURITY AND AUTHENTICATION        TRENDS AND REACTIVE MEASURES, now U.S. Patent Application        Publication No. 2019/0201138;    -   U.S. patent application Ser. No. 15/940,706, entitled DATA        HANDLING AND PRIORITIZATION IN A CLOUD ANALYTICS NETWORK, now        U.S. Patent Application Publication No. 2019/0206561; and    -   U.S. patent application Ser. No. 15/940,675, entitled CLOUD        INTERFACE FOR COUPLED SURGICAL DEVICES, now U.S. Pat. No.        10,849,697.

Applicant of the present application owns the following U.S. patentapplications, filed on Mar. 29, 2018, each of which is hereinincorporated by reference in its entirety:

-   -   U.S. patent application Ser. No. 15/940,627, entitled DRIVE        ARRANGEMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS, now U.S.        Patent Application Publication No. 2019/0201111;    -   U.S. patent application Ser. No. 15/940,637, entitled        COMMUNICATION ARRANGEMENTS FOR ROBOT-ASSISTED SURGICAL        PLATFORMS, now U.S. Patent Application Publication No.        2019/0201139;    -   U.S. patent application Ser. No. 15/940,642, entitled CONTROLS        FOR ROBOT-ASSISTED SURGICAL PLATFORMS, now U.S. Patent        Application Publication No. 2019/0201113;    -   U.S. patent application Ser. No. 15/940,676, entitled AUTOMATIC        TOOL ADJUSTMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS, now U.S.        Patent Application Publication No. 2019/0201142;    -   U.S. patent application Ser. No. 15/940,680, entitled        CONTROLLERS FOR ROBOT-ASSISTED SURGICAL PLATFORMS, now U.S.        Patent Application Publication No. 2019/0201135;    -   U.S. patent application Ser. No. 15/940,683, entitled        COOPERATIVE SURGICAL ACTIONS FOR ROBOT-ASSISTED SURGICAL        PLATFORMS, now U.S. Patent Application Publication No.        2019/0201145;    -   U.S. patent application Ser. No. 15/940,690, entitled DISPLAY        ARRANGEMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS, now U.S.        Patent Application Publication No. 2019/0201118; and    -   U.S. patent application Ser. No. 15/940,711, entitled SENSING        ARRANGEMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS, now U.S.        Patent Application Publication No. 2019/0201120.

Numerous specific details are set forth to provide a thoroughunderstanding of the overall structure, function, manufacture, and useof the embodiments as described in the specification and illustrated inthe accompanying drawings. Well-known operations, components, andelements have not been described in detail so as not to obscure theembodiments described in the specification. The reader will understandthat the embodiments described and illustrated herein are non-limitingexamples, and thus it can be appreciated that the specific structuraland functional details disclosed herein may be representative andillustrative. Variations and changes thereto may be made withoutdeparting from the scope of the claims.

The terms “comprise” (and any form of comprise, such as “comprises” and“comprising”), “have” (and any form of have, such as “has” and“having”), “include” (and any form of include, such as “includes” and“including”) and “contain” (and any form of contain, such as “contains”and “containing”) are open-ended linking verbs. As a result, a surgicalsystem, device, or apparatus that “comprises,” “has,” “includes” or“contains” one or more elements possesses those one or more elements,but is not limited to possessing only those one or more elements.Likewise, an element of a system, device, or apparatus that “comprises,”“has,” “includes” or “contains” one or more features possesses those oneor more features, but is not limited to possessing only those one ormore features.

The terms “proximal” and “distal” are used herein with reference to aclinician manipulating the handle portion of the surgical instrument.The term “proximal” refers to the portion closest to the clinician andthe term “distal” refers to the portion located away from the clinician.It will be further appreciated that, for convenience and clarity,spatial terms such as “vertical”, “horizontal”, “up”, and “down” may beused herein with respect to the drawings. However, surgical instrumentsare used in many orientations and positions, and these terms are notintended to be limiting and/or absolute.

Various exemplary devices and methods are provided for performinglaparoscopic and minimally invasive surgical procedures. However, thereader will readily appreciate that the various methods and devicesdisclosed herein can be used in numerous surgical procedures andapplications including, for example, in connection with open surgicalprocedures. As the present Detailed Description proceeds, the readerwill further appreciate that the various instruments disclosed hereincan be inserted into a body in any way, such as through a naturalorifice, through an incision or puncture hole formed in tissue, etc. Theworking portions or end effector portions of the instruments can beinserted directly into a patient's body or can be inserted through anaccess device that has a working channel through which the end effectorand elongate shaft of a surgical instrument can be advanced.

A surgical stapling system can comprise a shaft and an end effectorextending from the shaft. The end effector comprises a first jaw and asecond jaw. The first jaw comprises a staple cartridge. The staplecartridge is insertable into and removable from the first jaw; however,other embodiments are envisioned in which a staple cartridge is notremovable from, or at least readily replaceable from, the first jaw. Thesecond jaw comprises an anvil configured to deform staples ejected fromthe staple cartridge. The second jaw is pivotable relative to the firstjaw about a closure axis; however, other embodiments are envisioned inwhich the first jaw is pivotable relative to the second jaw. Thesurgical stapling system further comprises an articulation jointconfigured to permit the end effector to be rotated, or articulated,relative to the shaft. The end effector is rotatable about anarticulation axis extending through the articulation joint. Otherembodiments are envisioned which do not include an articulation joint.

The staple cartridge comprises a cartridge body. The cartridge bodyincludes a proximal end, a distal end, and a deck extending between theproximal end and the distal end. In use, the staple cartridge ispositioned on a first side of the tissue to be stapled and the anvil ispositioned on a second side of the tissue. The anvil is moved toward thestaple cartridge to compress and clamp the tissue against the deck.Thereafter, staples removably stored in the cartridge body can bedeployed into the tissue. The cartridge body includes staple cavitiesdefined therein wherein staples are removably stored in the staplecavities. The staple cavities are arranged in six longitudinal rows.Three rows of staple cavities are positioned on a first side of alongitudinal slot and three rows of staple cavities are positioned on asecond side of the longitudinal slot. Other arrangements of staplecavities and staples may be possible.

The staples are supported by staple drivers in the cartridge body. Thedrivers are movable between a first, or unfired position, and a second,or fired, position to eject the staples from the staple cavities. Thedrivers are retained in the cartridge body by a retainer which extendsaround the bottom of the cartridge body and includes resilient membersconfigured to grip the cartridge body and hold the retainer to thecartridge body. The drivers are movable between their unfired positionsand their fired positions by a sled. The sled is movable between aproximal position adjacent the proximal end and a distal positionadjacent the distal end. The sled comprises a plurality of rampedsurfaces configured to slide under the drivers and lift the drivers, andthe staples supported thereon, toward the anvil.

Further to the above, the sled is moved distally by a firing member. Thefiring member is configured to contact the sled and push the sled towardthe distal end. The longitudinal slot defined in the cartridge body isconfigured to receive the firing member. The anvil also includes a slotconfigured to receive the firing member. The firing member furthercomprises a first cam which engages the first jaw and a second cam whichengages the second jaw. As the firing member is advanced distally, thefirst cam and the second cam can control the distance, or tissue gap,between the deck of the staple cartridge and the anvil. The firingmember also comprises a knife configured to incise the tissue capturedintermediate the staple cartridge and the anvil. It is desirable for theknife to be positioned at least partially proximal to the rampedsurfaces such that the staples are ejected ahead of the knife.

A surgical instrument 1000 is illustrated in FIG. 1. As discussed ingreater detail below, the surgical instrument 1000 is configured toclamp, incise, and seal patient tissue. The surgical instrument 1000comprises an end effector 1300, an articulation joint 1400, and anarticulation drive system 1700 (FIG. 13) configured to articulate theend effector 1300 about the articulation joint 1400. The end effector1300 comprises a first jaw 1310, a second jaw 1320 movable between anopen position and a closed position, and a drive system 1600 (FIG. 13)operable to close the second jaw 1320 during a closure stroke. After theend effector 1300 is closed, the drive system 1600 is operable onceagain to incise and staple the patient tissue captured between the firstjaw 1310 and the second jaw 1320 during a firing stroke. Additionally,the surgical instrument 1000 comprises an energy delivery system 1900which is also operable to seal the incised tissue.

The surgical instrument 1000 further comprises a handle 1100 and a shaft1200 extending from the handle 1100. The handle 1100 comprises a grip1110 extending downwardly from a handle body 1120. As discussed ingreater detail below, the handle 1100 further comprises a closureactuator 1130 operable to close the end effector 1300 and anarticulation actuator 1140 operable to articulate the end effector 1300relative to the shaft 1200. The shaft 1200 comprises an outer housing1210 and an inner frame, or spine, 1230 (FIG. 4) which are rotatablymounted to the handle body 1120 about a rotation joint 1220. Referringto FIG. 5, the articulation joint 1400 comprises a flexible outerhousing 1410 affixed to the outer housing 1210 and a flexiblearticulation frame 1430 connected to the shaft frame 1230 (FIG. 4). Thefirst jaw 1310 comprises a proximal end 1311 mounted to the flexiblearticulation frame 1430 via a pin forming a rotation joint 1330 betweenthe first jaw 1310 and the second jaw 1320. The distal end of theflexible articulation housing 1410 is also affixed to the first jaw 1310via a clamp ring 1420 such that the end effector 1300 is affixed to thedistal end of the articulation joint 1400.

Referring primarily to FIGS. 1 and 13, the articulation drive system1700 comprises an electric motor 1710 in communication with a controlsystem of the surgical instrument 1000. The control system is configuredto supply power to the electric motor 1710 from a battery 1180 inresponse to an actuation of the articulation actuator 1140. Thearticulation actuator 1140 comprises a switch that is actuatable in afirst direction to operate the electric motor 1710 in a first directionand actuatable in a second direction to operate the electric motor 1710in a second, or opposite, direction. The articulation drive system 1700further comprises a transfer gear 1730 rotatably supported within thehandle 1100 that is operably engaged with a gear output 1720 of theelectric motor 1710. Referring primarily to FIGS. 2 and 4, thearticulation drive system 1700 also comprises a first articulationactuator 1740 and a second articulation actuator 1750 operably engagedwith the transfer gear 1730. More specifically, the transfer gear 1730comprises a pinion gear portion 1735 intermeshed with a first drive rack1745 defined on the proximal end of the first articulation actuator 1740and a second drive rack 1755 defined on the proximal end of the secondarticulation actuator 1750. Owing to the positioning of the first driverack 1745 and the second drive rack 1755 on opposite sides of thetransfer gear 1730, the first articulation actuator 1740 and the secondarticulation actuator 1750 are driven proximally and distally inopposition to, or antagonistically with respect to, one another when thetransfer gear 1730 is rotated. For instance, the first articulationactuator 1740 is driven distally and the second articulation actuator1750 is driven proximally to articulate the end effector 1300 in a firstdirection when the electric motor 1710 is operated in its firstdirection. Correspondingly, the first articulation actuator 1740 isdriven proximally and the second articulation actuator 1750 is drivendistally to articulate the end effector 1300 in a second, or opposite,direction when the electric motor 1710 is operated in its seconddirection.

Referring to FIGS. 4-6, the first jaw 1310 comprises a firstarticulation drive post 1317 extending upwardly on a first lateral sideof the first jaw 1310 and a second articulation drive post 1319extending upwardly on a second, or opposite, lateral side of the firstjaw 1310. The distal end of the first articulation actuator 1740comprises a first drive mount 1747 engaged with the first articulationdrive post 1317 and the distal end of the second articulation actuator1750 comprises a second drive mount 1759 engaged with the secondarticulation drive post 1319 such that the proximal and distal movementof the articulation actuators 1740 and 1750 rotate the end effector 1300about the articulation joint 1400. When the end effector 1300 isarticulated, the flexible outer housing 1410 and the flexiblearticulation frame 1430 of the articulation joint 1400 resilientlydeflect to accommodate the rotation of the end effector 1300. In variousinstances, the articulated position of the end effector 1300 is held inplace due to friction within the articulation drive 1700. In variousembodiments, the articulation drive 1700 comprises an articulation lockconfigured to releasably hold the end effector 1300 in position.

As discussed above, the surgical instrument 1000 comprises a drivesystem 1600 operable to close the end effector 1300 and then operableonce again to staple and incise the patient tissue captured between thefirst jaw 1310 and the second jaw 1320 of the end effector 1300.Referring again to FIG. 13, the drive system 1600 comprises an electricmotor 1610 in communication with the control system of the surgicalinstrument 1000. The control system is configured to supply power to theelectric motor 1610 from the battery 1180 in response to an actuation ofthe closure actuator 1130. The closure actuator 1130 comprises a switchthat is actuatable in a first direction to operate the electric motor1610 in a first direction to close the end effector 1300 and actuatablein a second direction to operate the electric motor 1610 in a second, oropposite, direction to open the end effector 1300. The closure drivesystem 1600 further comprises a transfer gear 1630 rotatably supportedwithin the handle 1100 that is operably engaged with a gear output 1620of the electric motor 1610. The transfer gear 1630 is fixedly mounted toa rotatable drive shaft 1660 such that the drive shaft 1660 rotates withthe transfer gear 1630. The rotatable drive shaft 1660 extends throughthe shaft 1200 and comprises a flexible portion 1665 that extendsthrough the articulation joint 1400 to accommodate the articulation ofthe end effector 1300. The rotatable drive shaft 1660 further comprisesa distal coupling 1661 that extends into a proximal end 1311 of thefirst jaw 1310. In at least one embodiment, the distal coupling 1661comprises a hex-shaped aperture, for example, but could comprise anysuitable configuration.

Referring primarily to FIG. 6, the first jaw 1310 further comprises achannel 1312 extending between the proximal end 1311 and a distal end1313. The channel 1312 comprises two sidewalls extending upwardly from abottom wall and is configured to receive a staple cartridge, such as astaple cartridge 1500, for example, between the sidewalls. The staplecartridge 1500 comprises a cartridge body 1510 including a proximal end1511, a distal nose 1513, and a tissue-supporting deck 1512 extendingbetween the proximal end 1511 and the distal nose 1513. The cartridgebody 1510 further comprises a longitudinal slot 1520 defined thereinextending from the proximal end 1511 toward the distal nose 1513. Thecartridge body 1510 also comprises longitudinal rows of staple cavities1530 extending between the proximal end 1511 and the distal nose 1513.More specifically, the cartridge body 1510 comprises a singlelongitudinal row of staple cavities 1530 positioned on a first lateralside of the longitudinal slot 1520 and a single longitudinal row ofstaple cavities 1530 positioned on a second, or opposite, lateral sideof the longitudinal slot 1520. That said, a staple cartridge cancomprise any suitable number of longitudinal rows of staple cavities1530. The staple cartridge 1500 further comprises a staple removablystored in each staple cavity 1530 which is ejected from the staplecartridge 1500 during a staple firing stroke, as discussed in greaterdetail further below.

Further to the above, referring again to FIG. 6, the staple cartridge1500 further comprises a drive screw 1560 rotatably supported in thecartridge body. More specifically, the drive screw 1560 comprises aproximal end 1561 rotatably supported by a proximal bearing in theproximal end 1511 of the cartridge body 1510 and a distal end 1563rotatably supported by a distal bearing in the distal end 1513 of thecartridge body 1510. The proximal end 1561 of the drive screw 1560comprises a hex coupling extending proximally with respect to theproximal end 1511 of the cartridge end 1510. When the staple cartridge1500 is seated in the first jaw 1310, the proximal end 1511 of thecartridge body 1510 is slid into the proximal end 1311 of the first jaw1310 such that the hex coupling of the proximal drive screw end 1561 isinserted into and is operably engaged with the distal drive end 1661 ofthe rotatable drive shaft 1660. Once the drive screw 1560 is coupled tothe rotatable drive shaft 1660 the distal nose 1513 of the staplecartridge 1500 is seated in the distal end 1313 of the first jaw 1310.That said, the staple cartridge 1500 can be seated in the first jaw 1310in any suitable manner. In various instances, the staple cartridge 1500comprises one or more snap-fit and/or press-fit features whichreleasably engage the first jaw 1310 to releasably secure the staplecartridge 1500 within the first jaw 1310. To remove the staple cartridge1500 from the first jaw 1310, an upward, or lifting, force can beapplied to the distal nose 1513 of the staple cartridge 1500 to releasethe staple cartridge 1500 from the first jaw 1310.

Referring again to FIG. 6, the drive screw 1560 further comprises athreaded portion 1565 extending between the proximal end 1561 and thedistal end 1563 and the staple cartridge 1500 further comprises a firingmember 1570 threadably engaged with the threaded portion 1565. Morespecifically, the firing member 1570 comprises a threaded nut insert1575 threadably engaged with the threaded portion 1565 which isconstrained, or at least substantially constrained, from rotating suchthat the firing member 1570 translates within the staple cartridge 1500when the drive screw 1560 is rotated. When the drive screw 1560 isrotated in a first direction, the firing member 1570 translates from aproximal unactuated position to a distal actuated position during aclosure stroke to move the second jaw 1320 from its open, or unclamped,position (FIG. 7) to its distal, or clamped, position (FIGS. 8 and 11).More specifically, the firing member 1570 comprises a first cam 1572that engages the first jaw 1310 and a second cam 1576 that engages thesecond jaw 1320 during the closure stroke which co-operatively positionthe second jaw 1320 relative to the first jaw 1310. At the outset of theclosure stroke, the second cam 1576 is not engaged with the second jaw1320; however, the second cam 1576 comes into contact with a ramp 1326(FIG. 6) during the closure stroke to rotate the second jaw 1320 towardthe first jaw 1310.

Once the firing member 1570 has reached the end of its closure stroke(FIGS. 8 and 11), the controller of the surgical instrument 1000 stopsthe drive motor 1610 (FIG. 13). At such point, referring to FIG. 11, thefiring member 1570 has not incised the patient tissue captured betweenthe first jaw 1310 and the second jaw 1320 and/or stapled the patienttissue. If the clinician is unsatisfied with the positioning of the jaws1310 and 1320 on the patient tissue, the clinician can release theclosure actuator 1130 (FIG. 1) to operate the drive motor 1610 in itssecond, or opposite, direction and translate the firing member 1570proximally out of engagement with the second jaw 1320. In at least oneinstance, the handle 1100 comprises a closure lock which releasablyholds the closure actuator 1130 in its closed position and the clinicianmust deactivate the closure lock to reopen the closure actuator 1130.Referring to FIG. 1, the handle 1100 further comprises a closure lockrelease 1160 that, when actuated, unlocks the closure actuator 1130.Once the end effector 1300 is open, the clinician can re-position theend effector 1300 relative to the patient tissue and, once satisfiedwith the re-positioning of the end effector 1300 relative to the patienttissue, close the closure actuator 1130 once again to re-operate thedrive motor 1610 in its first direction to re-close the second jaw 1320.At such point, the drive system 1600 can be operated to perform thestaple firing stroke, as discussed further below.

Further to the above, as illustrated in FIG. 11, the firing member 1570moves into contact with, or in close proximity to, a sled 1550 containedin the cartridge body 1510 at the end of the closure stroke. Thesurgical instrument 1000 further comprises a firing actuator incommunication with the control system of the surgical instrument 1000which, when actuated, causes the control system to operate the drivemotor 1610 in its first direction to advance the firing member 1570distally from its distal clamped position (FIGS. 8 and 11) and push thesled 1550 through the staple firing stroke, as illustrated in FIG. 12.In various embodiments, the staple cartridge 1500 comprises stapledrivers which support and drive the staples out of the cartridge body1510 when the staple drivers are contacted by the sled 1550 during thestaple firing stroke. In other embodiments, as discussed in greaterdetail below, the staples comprise drivers integrally-formed thereonwhich are directly contacted by the sled 1550 during the staple firingstroke. In either event, the sled 1550 progressively ejects, or fires,the staples out of the cartridge body 1510 as the sled 1550 is movedfrom its distal clamped position (FIG. 11) to its distal fired position(FIG. 12) by the firing member 1570. Moreover, referring to FIG. 6, thefiring member 1570 comprises a tissue cutting edge 1571 that movesthrough the longitudinal slot 1520 during the staple firing stroke toincise the tissue captured between the deck 1512 of the staple cartridge1500 and the second jaw 1320.

Further to the above, the second jaw 1320 comprises a frame 1325including a proximal end 1321 rotatably connected to the first jaw 1310,a longitudinal recess 1324, and a longitudinal slot 1329 configured toreceive the firing member 1570 during the staple firing stroke. Theframe 1325 further comprises a first longitudinal cam shoulder 1327defined on a first side of the longitudinal slot 1329 and a secondlongitudinal cam shoulder 1328 defined on a second side of thelongitudinal slot 1329. During the staple firing stroke, the second cam1576 of the firing member 1570 slides along the first longitudinal camshoulder 1327 and the second longitudinal cam shoulder 1328 whichco-operates with the first cam 1572 to hold the second jaw 1320 inposition relative to the first jaw 1310. The frame 1325 also compriseslongitudinal rows of staple forming cavities defined therein which areregistered with the staple cavities 1530 defined in the staple cartridge1500 when the second jaw 1320 is in its closed position. The second jaw1320 further comprises a cover, or cap, 1322 positioned in thelongitudinal recess 1324 which is welded to the frame 1325 to enclosethe longitudinal slot 1329 and extend over the second cam 1576. Thecover 1322 comprises a distal end, or nose, 1323 which is angled towardthe distal nose 1513 of the staple cartridge 1500.

In various instances, the clinician can depress and hold the firingactuator until the staple firing stroke is completed. When the firingmember 1570 reaches the end of the staple firing stroke, in suchinstances, the control system can automatically switch the operation ofthe drive motor 1610 from its first direction to its second direction toretract the firing member 1570 proximally back into its distal clampedposition (FIGS. 8 and 11). In such instances, the end effector 1300remains in its closed, or clamped, configuration until the closure lockrelease 1160 (FIG. 1) is actuated by the clinician to re-open theclosure actuator 1130 and the end effector 1300. In certain instances,the clinician can release the firing actuator prior to the end of thestaple firing stroke to stop the drive motor 1610. In such instances,the clinician can re-actuate the firing actuator to complete the staplefiring stroke or, alternatively, actuate a retraction actuator incommunication with the control system to operate the drive motor 1610 inits second direction to retract the firing member 1570 back into itsdistal clamped position (FIGS. 8 and 11). In various alternativeembodiments, the automatic retraction of the firing member 1570 and/orthe actuation of the retraction actuator can retract the firing member1570 back into is proximal unactuated position to automatically open theend effector 1300 without requiring the clinician to release the closureactuator 1130. To move the second jaw 1320 into an open position (FIG.12A), the proximal end 1321 of the second jaw 1320 comprises a cammingsurface 1339 defined on the proximal end 1321 and the firing member 1570comprises a cam portion 1579 defined on a proximal end of the firingmember 1570. The cam portion 1579 is configured to pivot the second jaw1320 into the open position upon contacting the camming surface 1339.

Once the staple cartridge 1500 has been at least partially expended,i.e., at least partially fired, and the end effector 1500 has beenre-opened, the staple cartridge 1500 can be removed from the first jaw1310 and replaced with another staple cartridge 1500, and/or any othersuitable staple cartridge. If the expended staple cartridge 1500 is notreplaced, the firing drive 1600 is locked out from performing anotherstaple firing stroke. Such a lockout can comprise an electronic lockoutthat prevents the control system from operating the drive motor 1610 toperform another staple firing stroke until the spent staple cartridge1500 is replaced with an unspent staple cartridge. In addition to or inlieu of an electronic lockout, the surgical instrument 1000 can includea mechanical lockout which blocks the distal advancement of the firingmember 1570 through another staple firing stroke unless the spent staplecartridge 1500 is replaced. Notably, referring to FIG. 12, the sled 1550is not retracted proximally with the firing member 1570 after the staplefiring stroke. As such, the electronic and/or mechanical lockout can keyoff of the position of the sled 1550 at the outset of the staple firingstroke. Stated another way, the staple firing stroke is prevented orblocked if the sled 1550 is not in its unfired position when the staplefiring stroke is initiated.

The entire disclosures of U.S. Pat. No. 7,143,923, entitled SURGICALSTAPLING INSTRUMENT HAVING A FIRING LOCKOUT FOR AN UNCLOSED ANVIL, whichissued on Dec. 5, 2006; U.S. Pat. No. 7,044,352, SURGICAL STAPLINGINSTRUMENT HAVING A SINGLE LOCKOUT MECHANISM FOR PREVENTION OF FIRING,which issued on May 16, 2006; U.S. Pat. No. 7,000,818, SURGICAL STAPLINGINSTRUMENT HAVING SEPARATE DISTINCT CLOSING AND FIRING SYSTEMS, whichissued on Feb. 21, 2006; U.S. Pat. No. 6,988,649, SURGICAL STAPLINGINSTRUMENT HAVING A SPENT CARTRIDGE LOCKOUT, which issued on Jan. 24,2006; and U.S. Pat. No. 6,978,921, SURGICAL STAPLING INSTRUMENTINCORPORATING AN E-BEAM FIRING MECHANISM, which issued on Dec. 27, 2005,are incorporated by reference herein.

In various alternative embodiments, a surgical instrument can compriseseparate and distinct closure and staple firing drive systems. In atleast one such embodiment, the closure drive system comprises a closureactuator and a closure drive motor which, when actuated, moves theclosure actuator distally through a closure stroke to close the endeffector. In such embodiments, the staple firing drive system comprisesa firing actuator and a separate firing drive motor which moves thefiring actuator distally through a staple firing stroke. As discussed ingreater detail below, the length of the closure stroke in suchembodiments can be adjusted independently of the staple firing stroke tocontrol the position of the second jaw 1320. Moreover, the closure drivesystem can also be actuated during the staple firing stroke to furthercontrol the position of the second jaw 1320.

As discussed above, the staples ejected from the staple cartridge 1500can seal the incised patient tissue. That said, a single row of stapleson each side of the incision may not be able to create a sufficienthemostatic seal in the incised patient tissue. To this end, as discussedin greater detail below, the surgical instrument 1000 is furtherconfigured to use electrical energy to seal the patient tissue.Referring to FIG. 1, the surgical instrument 1000 further comprises anenergy delivery system 1900 including an off-board power supply and acord 1990 in communication with the off-board power supply. In variousalternative embodiments, the energy delivery system 1900 comprises anon-board power supply, such as the battery 1180, for example. In eitherevent, the control system of the surgical instrument 1000 is configuredto control the delivery of energy from the energy delivery system 1900to the patient tissue, as discussed in greater detail below. The energydelivery system 1900 comprises an electrical circuit extending throughthe shaft 1200 and the articulation joint 1400 and into the end effector1300. Referring to FIG. 6, the energy delivery system 1900 comprises anelectrode supply circuit 1920 that extends into the second jaw 1320 andcomprises a longitudinal electrode 1925 mounted to the frame 1325 of thesecond jaw 1320. The longitudinal electrode 1925 is electricallyinsulated from the metal frame 1325 such that the current flowingthrough the longitudinal electrode 1925, or at least a majority of thecurrent flowing through the longitudinal electrode 1925, flows into alongitudinal return electrode 1590 of the staple cartridge 1500. Thelongitudinal return electrode 1590 is seated in the cartridge body 1510and comprises a cartridge connector 1595 that engages, and makes anelectrical connection with, a circuit connector 1915 of an electrodereturn circuit 1910 when the staple cartridge 1500 is seated in thefirst jaw 1310. In various alternative embodiments, the staple cartridge1500 includes a supply electrode and the second jaw 1320 includes areturn electrode.

Referring to FIG. 1, the surgical instrument 1000 further comprises adisplay 1190 in communication with the control system of the surgicalinstrument 1000. In various instances, the control system is configuredto display parameters and/or data regarding the staple firing systemand/or the energy delivery system.

A surgical instrument 2000 is illustrated in FIG. 14. The surgicalinstrument 2000 comprises an end effector 2300 and a firing drive 2600.The end effector 2300 comprises a first jaw 2310 and a second jaw 2320rotatable relative to the first jaw 2310 about a pivot 2330. The firstjaw 2310 comprises a replaceable staple cartridge 2500 comprisingstaples removably stored therein and the second jaw 2320 comprises ananvil configured to deform the staples. The firing drive 2600 comprisesa firing member 2570 that is advanced distally to push a sled containedin the staple cartridge 2500 during a staple firing stroke to drive thestaples toward the second jaw 2320. The firing member 2570 comprises afirst cam 2572 configured to engage a longitudinal cam shoulder 2312defined in the first jaw 2310 and a second cam 2576 configured to engagea longitudinal cam shoulder 2327 defined in the second jaw 2320 duringthe staple firing stroke which co-operatively hold the second jaw 2320in position relative to the first jaw 2310. The firing member 2570further comprises a tissue cutting edge 2571 configured to incise thepatient tissue captured between the staple cartridge 2500 and the secondjaw 2320 during the staple firing stroke.

Further to the above, the firing drive 2600 further comprises arotatable drive shaft 2660 engaged with a rotatable drive shaft 2560extending within the staple cartridge 2500. The rotatable drive shaft2660 comprises a threaded portion 2665 that is rotatably supported inthe first jaw 2310 by a threaded bearing 2315. As a result of theinteraction between the threaded portion 2665 of the drive shaft 2660and the threaded bearing 2315, the rotation of the drive shaft 2660causes the drive shaft 2660 to translate proximally or distally relativeto the end effector 2300 depending on the direction in which the driveshaft 2660 is rotated. When the drive shaft 2560 is rotated in a firstdirection, the drive shaft 2660 translates distally. When the driveshaft 2560 is rotated in a second, or opposite, direction, the driveshaft 2660 translates proximally. As discussed in greater detail below,the rotation and translation of the drive shaft 2660 is transmitted tothe rotatable drive shaft 2560.

Further to the above, the firing member 2570 comprises a threadedaperture 2575 defined therein that is threadably engaged with a threadedportion 2565 of the rotatable drive shaft 2560. When the drive shaft2560 is rotated in the first direction by the drive shaft 2660 asdescribed above, referring to FIG. 15, the firing member 2570 translatesdistally relative to the drive shaft 2560. Thus, the distal motion ofthe firing member 2570 relative to the end effector 2300 is acomposition of two concurrent distal translations—the translation of thedrive shaft 2560 relative to the end effector 2300 and the translationof the firing member 2570 relative to the drive shaft 2560. When thedrive shaft 2560 is rotated in the second, or opposite, direction by thedrive shaft 2660 as also described above, the firing member 2570translates proximally relative to the drive shaft 2560. Thus, theproximal motion of the firing member 2570 relative to the end effector2300 is a composition of two concurrent proximal translations—thetranslation of the drive shaft 2560 relative to the end effector 2300and the translation of the firing member 2570 relative to the driveshaft 2560. To achieve the above, the threaded portion 2565 and thethreaded portion 2665 can comprise any suitable thread design including,for example, right-handed threads and/or left-handed threads.

As discussed above, the drive shaft 2560 translates distally relative tothe end effector 2300 and, also, the firing member 2570 translatesdistally relative to the drive shaft 2560 during the staple firingstroke. In various instances, the drive shaft 2560 translates relativeto the end effector 2300 at a first translational rate and the firingmember 2570 translates distally relative to the drive shaft 2560 at asecond translational rate. In at least one embodiment, the firsttranslational rate and the second translational rate are the same, i.e.,the firing member 2570 translates distally relative to the end effector2300 at a speed which is twice that of the distal translation of thedrive shaft 2560 relative to the end effector 2300. In at least one suchembodiment, the threaded portion 2665 of the drive shaft 2660 comprisesa first thread pitch and the threaded portion 2565 of the drive shaft2560 comprises a second thread pitch which is the same as the firstthread pitch. In at least one such embodiment, the threaded portion 2665of the drive shaft 2660 comprises a first threads-per-inch (TPI) and thethreaded portion 2565 of the drive shaft 2560 comprises a secondthreads-per-inch which is the same as the first threads-per-inch.

In various embodiments, further to the above, the first translationalrate of the drive shaft 2560 relative to the end effector 2300 is fasterthan the second translational rate of the firing member 2570 relative tothe drive shaft 2560. In other embodiments, the first translational rateof the drive shaft 2560 relative to the end effector 2300 is slower thanthe second translational rate of the firing member 2570 relative to thedrive shaft 2560. In either instance, however, the speed of the firingmember 2570 relative to the end effector 2300 is faster than the speedof the drive shaft 2560 relative to the end effector 2300. In variousembodiments, the first thread pitch of the threaded portion 2665 and thesecond thread pitch of the threaded portion 2565 are different.Likewise, in various embodiments, the first threads-per-inch of thethreaded portion 2665 is different than the second threads-per-inch ofthe threaded portion 2565. When the second translational rate of thefiring member 2570 relative to the drive shaft 2560 is faster than thefirst translational rate of the drive shaft 2560 relative to the endeffector 2300, the second threads-per-inch of the threaded portion 2565is smaller than the first threads-per-inch of the threaded portion 2665,for example. Likewise, the second threads-per-inch of the threadedportion 2565 is larger than the first threads-per-inch of the threadedportion 2665 when the second translational rate of the firing member2570 relative to the drive shaft 2560 is slower than the firsttranslational rate of the drive shaft 2560 relative to the end effector2300, for example.

In various embodiments, the first thread pitch of the threaded portion2665 is constant along the length thereof. Thus, for a given speed ofthe electric motor driving the drive system 2600, the drive shaft 2660will translate at a constant speed relative to the end effector 2300. Inother embodiments, the first thread pitch of the threaded portion 2665is not constant along the length thereof. In at least one suchembodiment, the first thread pitch changes along the length of thethreaded portion 2665 and, for a given speed of the electric motordriving the drive system 2600, the translational speed of the driveshaft 2660 relative to the end effector 2300 changes during the staplefiring stroke. Such an arrangement can be useful to create a soft startof the firing member 2570 at the beginning of the staple firing strokeand/or a soft stop of the firing member 2570 at the end of the staplefiring stroke. In such instances, the first translational rate of thedrive shaft 2660 is slower at the beginning and/or at the end of thestaple firing stroke.

In various embodiments, further to the above, the second thread pitch ofthe threaded portion 2565 is constant along the length thereof. Thus,for a given speed of the electric motor driving the drive system 2600,the firing member 2570 will translate at a constant speed relative tothe drive shaft 2560. In other embodiments, the second thread pitch ofthe threaded portion 2565 is not constant along the length thereof. Inat least one such embodiment, the second thread pitch changes along thelength of the threaded portion 2565 and, for a given speed of theelectric motor driving the drive system 2600, the translational speed ofthe firing member 2570 relative to the drive shaft 2560 changes duringthe staple firing stroke. Such an arrangement can be useful to create asoft start of the firing member 2570 at the beginning of the staplefiring stroke and/or a soft stop of the firing member 2570 at the end ofthe staple firing stroke. In such instances, the second translationalrate of the firing member 2570 is slower at the beginning and/or at theend of the staple firing stroke.

A surgical instrument 3000 is illustrated in FIG. 16. The surgicalinstrument 3000 comprises an end effector 3300, a closure drive 3800,and a firing drive 3600. The end effector 3300 comprises a first jaw3310 and a second jaw 3320 rotatable relative to the first jaw 3310about a pivot 3330. The second jaw 3320 is movable from an open positionto a closed position by the closure drive 3800 during a closure stroke,as discussed in greater detail below. The first jaw 3310 comprises astaple cartridge 3500 including staples removably stored therein and thesecond jaw 3320 comprises forming pockets configured to deform thestaples. Once the second jaw 3320 is in its closed position, asillustrated in FIG. 16, the firing drive 3600 is operable to fire thestaples from the staple cartridge 3500 to staple the patient tissuecaptured between the staple cartridge 3500 and the second jaw 3320, asalso described in greater detail below.

Further to the above, the closure drive 3800 comprises a closure member3870 which is movable distally to engage the second jaw 3320 and movethe second jaw 3320 into its closed position during the closure stroke.The closure member 3870 comprises a first cam 3872 configured to engagea first longitudinal shoulder 3312 defined in the first jaw 3310 and asecond cam 3876 configured to engage the second jaw 3320 during thestaple firing stroke. Referring to FIGS. 17 and 18, the second jaw 3320comprises an anvil plate 3325 and a cover, or cap, 3322 welded to theanvil plate 3325. The anvil plate 3325 comprises a ramp 3326 and alongitudinal slot 3329 defined therein configured to receive the closuremember 3870. At the beginning of the closure stroke, the second cam 3876of the closure member 3870 is not in contact with the ramp 3326. Oncethe closure stroke is initiated, however, the second cam 3876 comes intocontact with the ramp 3326 and begins to close the second jaw 3320. Asthe closure stroke progresses, the second cam 3876 slides ontolongitudinal shoulders 3327 and 3328 defined on the lateral sides of thelongitudinal slot 3329. At such point, the first cam 3872 and the secondcam 3876 co-operatively hold the second jaw 3320 in its closed position.

Referring again to FIG. 16, the anvil 33200 comprises tissue stops 3340extending downwardly therefrom which prevent, or at least inhibit,patient tissue from migrating into the proximal end of the end effector3300. Each tissue stop 3340 comprises a distal edge 3345 whichco-operates with the lateral sides of the first jaw 3310 to prevent, orat least inhibit, the patient tissue from moving proximally. At the endof the closure stroke, referring again to FIG. 16, the leading edge 3871of the closure member 3870 is positioned proximally with respect to thedistal edges 3345 of the tissue stops 3340.

After the closure stroke, as mentioned above, the firing drive 3600 canbe actuated to fire the staples and incise the patient tissue during astaple firing stroke. The firing drive 3600 comprises a firing bar 3670which is advanced distally to push a sled 3550 positioned in the staplecartridge 3500 through the staple firing stroke and drive the staplesstored within the staple cartridge 3500 toward the second jaw 3320. Thefiring bar 3670 further comprises a tissue cutting edge 3675 whichextends into the longitudinal slot 3329 defined in the second jaw 3320and passes through the tissue gap defined between the second jaw 3320and the staple cartridge 3500 during the staple firing stroke to incisethe patient tissue as it is being stapled.

Notably, further to the above, the firing bar 3670 does not comprisecams which engage the first jaw 3310 and the second jaw 3320 to hold thesecond jaw 3320 in position during the staple firing stroke. In suchembodiments, the position of the second jaw 3320 relative to the firstjaw 3310 is controlled solely by the closure drive 3800 which isoperated independently of the firing drive 3600. Thus, in variousinstances, the control system of the surgical instrument 3000 can modifythe operation of the closure drive 3800 independently of modifying theoperation of the firing drive 3600 to achieve a desired goal and/ortherapeutic effect. For instance, the control system can operate theclosure drive 3800 to further close the second jaw 3320 while the firingdrive 3600 is being operated to perform the staple firing stroke. Insuch instances, the control system can increase the clamping force beingapplied to the patient tissue during the staple firing stroke to improvestaple formation. In other instances, the control system can operate theclosure drive 3800 to relax the clamping pressure being applied to thepatient tissue during the staple firing stroke. In such instances, thecontrol system can prevent the overcompression of the patient tissueand/or keep the forming pockets in the second jaw 3320 in registrationwith the staples being ejected from the staple cartridge 3500. Otherembodiments are envisioned in which the firing bar 3670 comprises afirst cam for engaging the first jaw 3310 during the staple firingstroke, but not a second cam engaged with the second jaw 3320. Invarious alternative embodiments, the firing bar 3670 can comprise both afirst cam engaged with the first jaw 3310 and a second cam engaged withthe second jaw 3320 during the staple firing stroke. In suchembodiments, both the firing drive 3600 and the closure drive 3800 canbe used to control the position of the second jaw 3320 but at differentlocations within the end effector 3300.

Further to the above, the surgical instrument 3000 comprises a handleincluding a jaw adjustment actuator and/or touch screen control incommunication with the control system of the surgical instrument 3000.In various embodiments, the control system comprises one or more sensorsconfigured to detect the firing load in the firing drive 3600 during thestaple firing stroke. In at least one such embodiment, the controlsystem comprises a current sensor configured to detect the magnitude ofcurrent through the electric motor of the firing drive 3600—which is aproxy for the firing load in the firing drive 3600—and adjust theposition of the second jaw 3320 based on the magnitude of the currentdetected through the electric motor. In certain embodiments, the controlsystem comprises a load cell sensor and/or a strain gauge sensor, forexample, configured to detect the clamping force being applied to thepatient tissue and adjust the position of the second jaw 3320 based onthe voltage potential output of the load cell sensor and/or strain gaugesensor. In various embodiments, the control system is configured toautomatically adjust the position of the second jaw 3320. In otherembodiments, the control system is configured to provide the clinicianusing the surgical instrument 3000 with the option of modifying theposition of the second 3320. In at least one such embodiment, thecontrol system is configured to illuminate the jaw adjustment actuator,or present an actuatable input on the touch screen control, when thefiring load in the firing drive 3600 and/or the clamping load in theclosure drive 3800 has crossed a threshold and, when the actuator isactuated by the clinician, adjust the position of the second jaw 3320.

As discussed above, the closure drive 3800 is operable during the staplefiring stroke to adjust the position of the closure member 3870. Thus,the closure member 3870 is movable distally during a first closurestroke to close the second jaw 3320 and then a second closure stroke tocontrol the position of the second jaw 3320 during the staple firingstroke. Further to the above, referring again to FIG. 16, the closuremember 3870 is movable distally into a first closed position as a resultof the first closure stroke in which the closure member 3870 ispositioned proximally with respect to the distal edges 3345 of thetissue stops 3340. As a result of the second closure stroke, at least aportion of the closure member 3870 is moved distally beyond the distaledges 3345 of the tissue stops 3340 to a second closed position. In sucha second closed position, the closure member 3870 can better resist theupward movement and/or deflection of the second jaw 3320 during thestaple firing stroke. The above being said, various embodiments areenvisioned in which the closure member 3870 does not move distallybeyond the distal edges 3345 of the tissue stops 3340 during the secondclosure stroke.

Referring again to FIG. 16, the firing bar 3670 extends distally pastthe closure member 3870. More specifically, the firing bar 3670 ispositioned laterally with respect to the closure member 3870 along thelength of the closure member 3870 and then extends distally in front ofthe closure member 3870 such that the firing bar 3670 is laterallycentered, or at least substantially laterally centered, within the endeffector 3300. As a result, the tissue cutting edge 3675 is aligned, orat least substantially aligned, with the longitudinal slot of the endeffector 3300.

An alternative arrangement is illustrated in FIGS. 19 and 20 whichcomprises a firing drive including a first firing bar 3670 a′ thatextends alongside a first lateral side of a closure member 3870′ and asecond firing bar 3670 b′ that extends alongside a second, or opposite,lateral side of the closure member 3870′. FIG. 19 is a cross-sectionalview of this arrangement taken proximally with respect to the endeffector of the surgical instrument and FIG. 20 is a cross-sectionalview of this arrangement taken within the end effector. The closuremember 3870′ comprises a longitudinal bar extending between the firingbars 3670 a′ and 3670 b′ (FIG. 19) and, also, first and second cams3872′ and 3876′ (FIG. 20) which are configured to engage the first andsecond jaws 3310 and 3320, respectively, during a firing stroke.Notably, the height of the firing bars 3670 a′ and 3670 b′ are shortenedto fit between the first and second cams 3872′ and 3876′ such that thefiring bars 3670 a′ and 3670 b′ extend further into the end effector.The distal ends of the firing bars 3670 a′ and 3670 b′ are connected ata location which is distal to the closure member 3870′ such that thefiring bars 3670 a′ and 3670 b′ co-operatively support a tissue cuttingknife and/or firing member during the firing stroke.

A surgical instrument 4000 is illustrated in FIG. 21. The surgicalinstrument 4000 comprises an end effector 4300 including a first jaw4310 and a second jaw 4320. The first jaw 4310 is rotatable relative tothe second jaw 4320 between an open position and a closed position. Thefirst jaw 4310 comprises a replaceable staple cartridge 4500 seatedtherein which comprises a cartridge body, a longitudinal slot 4520defined in the cartridge body, a longitudinal row of staple cavities4530 defined on each side of the longitudinal slot 4520, and staplesremovably stored in the staple cavities 4530. The staple cartridge 4500further comprises an electrical circuit including one or more electrodes4590 which are operable to seal the patient tissue as described ingreater detail below.

Further to the above, the first jaw 4310 comprises a longitudinal camslot 4312 defined therein and the second jaw 4320 comprises longitudinalcam shoulders 4327 and 4328 defined on opposite sides of a longitudinalslot 4329. The closure drive of the surgical instrument 4000 comprises aclosure member 4870 comprising a C-shaped channel including a base, orspine, 4877, a first cam 4872 extending from the spine 4877, and asecond cam 4876 extending from the spine 4877. The first cam 4872 isconfigured to extend into the cam slot 4312 of the first jaw 4310 andthe second cam 4876 is configured to engage the longitudinal shoulder4328 defined in the second jaw 4320 during a closure stroke to move thefirst jaw 4310 from an open, unclamped, position to a closed, clamped,position. The firing drive of the surgical instrument comprises a firingmember 4670 comprising a C-shaped channel including a base, or spine,4677, a first cam 4672 extending from the spine 4677, and a second cam4676 extending from the spine 4677. The first cam 4672 is configured toextend into the cam slot 4312 of the first jaw 4310 and the second cam4676 is configured to engage the longitudinal shoulder 4327 defined inthe second jaw 4320 during a staple firing stroke to eject the staplesfrom the staple cartridge 4500. Notably, the spines 4677 and 4877 bothextend within the longitudinal slot 4520 defined in the staple cartridge4500 and the longitudinal slot 4329 defined in the second jaw 4320 andare arranged in a back-to-back arrangement which permits the firingmember 4670 and the closure member 4870 to slide relative to oneanother.

A portion of a staple cartridge 5500 is illustrated in FIGS. 22-24. Thestaple cartridge 5500 comprises a cartridge body 5510 including staplecavities 5530 defined therein and staples 5540 positioned in the staplecavities 5530. Each staple 5540 comprises a base 5541, a first leg 5542extending from the base 5541, and a second leg 5544 extending from thebase 5541. Moreover, each staple 5540 comprises an integral driverportion that is directly engaged by a sled during a staple firing strokewhich is discussed in greater detail below in connection with FIG. 33.Each staple cavity 5530 comprises a central guide portion 5531configured to guide the base 5541 of a staple 5540, a first end 5532configured to guide the first leg 5542 of the staple 5540, and a secondend 5534 configured to guide the second leg 5544 of the staple 5540 whenthe staple 5540 is lifted from an unfired position (FIG. 23) to a firedposition (FIG. 24). As the staple 5540 is being fired, the first leg5542 and the second leg 5544 contact forming pockets defined in an anvilpositioned opposite the staple cartridge 5500 and are deformed generallyinwardly, i.e., generally toward one another into a formedconfiguration, such as a B-shaped configuration, for example.

In various instances, further to the above, the staple 5540 may becomemalformed during the staple forming process. For instance, one or bothof the staple legs 5542 and 5544 may deform outwardly instead ofinwardly during the staple forming process. While such outwarddeformation of the legs 5542 and 5544 may be acceptable in somecircumstances, such malformation may not be desirable to someclinicians. To prevent, or at least inhibit, the malformation of thestaple legs 5542 and 5544, the staple 5540 and the staple cavity 5530comprise co-operating features which bias the staple legs 5542 and 5544inwardly during the staple forming process, as described in greaterdetail below.

Referring primarily to FIG. 24, the staple cavity 5530 comprises a firstcam 5533 and the staple 5540 comprises a first cam shoulder 5543 whichengages the first cam 5533 as the staple 5540 is lifted upwardly towardthe anvil. When the first cam shoulder 5543 contacts the first cam 5533,the first leg 5542 is pushed inwardly, i.e., toward the second leg 5544.In various instances, the first cam 5533 and the first cam shoulder 5543are configured and arranged such that first cam shoulder 5543 contactsthe first cam 5533 prior to the first leg 5542 contacting the anvilforming pocket registered with the first leg 5542. In such instances,the first leg 5542 has inward momentum when the first leg 5542 contactsthe anvil which, as a result, facilitates the proper deformation of thestaple 5540. In other instances, the first cam 5533 and the first camshoulder 5543 are configured and arranged such that first cam shoulder5543 contacts the first cam 5533 at the same time that the first leg5542 contacts the anvil forming pocket registered with the first leg5542. In such instances, the anvil forming pocket and the first cam 5533co-operatively provide two points of contact for the first staple leg5542 as the first staple leg 5542 is being deformed. In various otherinstances, the first cam 5533 and the first cam shoulder 5543 areconfigured and arranged such that first cam shoulder 5543 contacts thefirst cam 5533 after the first leg 5542 contacts the anvil formingpocket registered with the first leg 5542.

Referring primarily to FIG. 24, the staple cavity 5530 further comprisesa second cam 5535 and the staple 5540 further comprises a second camshoulder 5545 which engages the second cam 5535 as the staple 5540 islifted upwardly toward the anvil. When the second cam shoulder 5545contacts the second cam 5535, the second leg 5544 is pushed inwardly,i.e., toward the first leg 5542. In various instances, the second cam5535 and the second cam shoulder 5545 are configured and arranged suchthat second cam shoulder 5545 contacts the second cam 5535 prior to thesecond leg 5544 contacting the anvil forming pocket registered with thesecond leg 5544. In such instances, the second leg 5544 has inwardmomentum when the second leg 5544 contacts the anvil which, as a result,facilitates the proper deformation of the staple 5540. In otherinstances, the second cam 5535 and the second cam shoulder 5545 areconfigured and arranged such that second cam shoulder 5545 contacts thesecond cam 5535 at the same time that the second leg 5544 contacts theanvil forming pocket registered with the second leg 5544. In suchinstances, the anvil forming pocket and the second cam 5535co-operatively provide two points of contact for the second staple leg5544 as the second staple leg 5544 is being deformed. In various otherinstances, the second cam 5535 and the second cam shoulder 5545 areconfigured and arranged such that second cam shoulder 5545 contacts thesecond cam 5535 after the second leg 5544 contacts the anvil formingpocket registered with the second leg 5544.

A portion of a staple cartridge 6500 is illustrated in FIGS. 25-27. Thestaple cartridge 6500 comprises a cartridge body 5510 including staplecavities 5530 defined therein and staples 6540 positioned in the staplecavities 5530. Each staple 6540 comprises a base 6541, a first leg 6542extending from the base 6541, and a second leg 6544 extending from thebase 6541. Moreover, each staple 6540 comprises an integral driverportion that is directly engaged by a sled during a staple firingstroke. Further to the above, the first leg 6542 of the staple 6540comprises an arcuate portion 6543 defined therein which is configured tocontact the first cam 5533 as the staple 6540 is moved into its firedposition. Similarly, the second leg 6544 of the staple 6540 comprises anarcuate portion 6545 defined therein which is configured to contact thesecond cam 5535 as the staple 6540 is moved into its fired position. Thearcuate portion 6543 of the first leg 6542 and the arcuate portion 6545of the second leg 6544 are cut-out during the stamping process. Thatsaid, various alternative embodiments are envisioned in which thearcuate portions 6543 and 6545 are bent into the staple legs 6542 and6544, respectively, during a secondary forming process.

A portion of a staple cartridge 7500 is illustrated in FIGS. 28 and 29.The staple cartridge 7500 comprises a cartridge body 5510 includingstaple cavities 5530 defined therein and staples 7540 positioned in thestaple cavities 5530. Each staple 7540 comprises a base 7541, a firstleg 7542 extending from the base 7541, and a second leg 7544 extendingfrom the base 7541. Moreover, each staple 7540 comprises an integraldriver portion that is directly engaged by a sled during a staple firingstroke. Further to the above, the first leg 7542 of the staple 7540comprises a bump 7543 defined therein which is configured to contact thefirst cam 5533 as the staple 7540 is moved into its fired position.Similarly, the second leg 7544 of the staple 7540 comprises a bump 7545defined therein which is configured to contact the second cam 5535 asthe staple 7540 is moved into its fired position. The bump 7543 of thefirst leg 7542 and the bump 7545 of the second leg 7544 are cut-outduring the stamping process.

A portion of a staple cartridge 8500 is illustrated in FIGS. 30-32. Thestaple cartridge 8500 comprises a cartridge body 5510 including staplecavities 5530 defined therein and staples 8540 positioned in the staplecavities 5530. Each staple 8540 comprises a base 8541, a first leg 8542extending from the base 8541, and a second leg 8544 extending from thebase 8541. Moreover, each staple 8540 comprises an integral driverportion that is directly engaged by a sled during a staple firingstroke. Further to the above, the first leg 8542 of the staple 8540comprises an angled shoulder 8543 defined therein which is configured tocontact the first cam 5533 as the staple 8540 is moved into its firedposition. Similarly, the second leg 8544 of the staple 8540 comprises anangled shoulder 8545 defined therein which is configured to contact thesecond cam 5535 as the staple 8540 is moved into its fired position. Theangled shoulder 8543 of the first leg 8542 and the angled shoulder 8545of the second leg 8544 are cut-out during the stamping process.Moreover, the first leg 8542 and the second leg 8544 of the staple 8540comprise notches or cut-outs 8549 defined therein which are configuredto induce the legs 8542 and 8544 to bend inwardly, or at leastsubstantially toward one another, during the staple forming process andassume a desired formed configuration.

A stamped staple 100 is depicted in FIG. 33. The staple 100 comprises aproximal staple leg 110, a distal staple leg 120, and a staple baseportion 130. The staple 100 further comprises vertical transitionportions, or bends, 118, 128 and lateral transition portions, or bends,116, 126. The vertical transition portions 118, 128 bend, or extend, thelegs 110, 120 vertically, or upward, from the staple base portion 130.The lateral transition portions 116, 126 extend the staple legs 110, 120laterally outward, or at least substantially perpendicularly withrespect to the staple base portion 130. The staple legs 110, 120 definea first plane and the staple base 130 defines a second plane. Together,the vertical transition portions 118, 128 and the lateral transitionportions 116, 126 permit the staple legs 110, 120 to be laterally offsetand parallel with respect to the staple base portion 130. Stated anotherway, the first plane is offset from and at least substantially parallelto the second plane. In FIG. 33, the first plane is offset in a negativeY direction, which is orthogonal to a vertical Z direction. Otherstaples may be used in conjunction with a plurality of staples 100 wherethe other staples comprise a first plane which is offset in the positiveY direction. The use of both types of staples permits staple rows to benested, or interwoven, where staple legs of neighboring rows may be atleast substantially aligned and/or share a common longitudinal axis. Invarious instances, the staple rows can be nested to provide denserstaple rows.

Further to the above, the proximal staple leg 110 comprises a generallyrectangular cross-section including flat surfaces and corners. Thecorners of the cross-section comprise bevels, radiuses, and/or coinededges 114 which reduce the exposure of sharp edges to the patienttissue. That said, the proximal staple leg 110 comprises a sharp tip 112configured to incise the patient tissue. Similarly, the distal stapleleg 120 comprises a generally rectangular cross-section including flatsurfaces 125 and corners 124 which are beveled, radiused, and/or coinedto reduce the exposure of sharp edges to the patient tissue. Like theproximal leg 110, the distal staple leg 120 comprises a sharp tip 122configured to incise the patient tissue.

The staple base 130 comprises an upper portion 136 configured to contactand support patient tissue. The upper portion 136 of the staple base 130comprises tissue contacting surfaces 137, 138, and 139 and edges 134which are beveled, radiused, and/or coined to reduce the exposure of thesharp edges to the patient tissue. The staple base 130 further comprisesa lower portion 135 which includes a drive cam 132 configured to bedirectly engaged by a sled. The lower portion 135 further comprises abottom edge 131 which rides over the apex of a sled rail and a distalshoulder 133 which loses contact with the sled rail as the sled movesdistally.

Further to the above, the legs 110 and 120 of the staple 100 extend in afirst plane and the drive cam 132 of the staple 100 is defined in asecond plane. The second plane is parallel to, or at least substantiallyparallel to, the first plane. When the legs 110 and 120 are deformed,the legs 110 and 120 capture patient tissue within the staple 100outside of the second plane. Among other things, such an arrangementallows a larger volume of tissue to be captured within the staple 100 ascompared to wire staples that are defined in a single plane. That said,such wire staples are desirable in many instances and, in someinstances, can be used in conjunction with stamped staples. The entiredisclosures of U.S. patent application Ser. No. 14/318,996, entitledFASTENER CARTRIDGES INCLUDING EXTENSIONS HAVING DIFFERENTCONFIGURATIONS, now U.S. Patent Application Publication No.2015/0297228, U.S. patent application Ser. No. 15/385,907, entitledSURGICAL INSTRUMENT SYSTEM COMPRISING AN END EFFECTOR LOCKOUT AND AFIRING ASSEMBLY LOCKOUT, now U.S. Patent Application Publication No.2018/0168608, and U.S. patent application Ser. No. 15/191,775, entitledSTAPLE CARTRIDGE COMPRISING WIRE STAPLES AND STAMPED STAPLES, now U.S.Patent Application Publication No. 2017/0367695 are incorporated byreference herein.

A staple cartridge 9500 is illustrated in FIGS. 34-38. The staplecartridge 9500 comprises a cartridge body 9510 including a proximal end9511 and a distal nose 9513. The cartridge body 9510 further comprises adeck 9512, a longitudinal slot 9520 extending from said proximal end9511 toward the distal nose 9513, and longitudinal rows of staplecavities 9530 defined in the deck 9512 extending between the proximalend 9511 and the distal nose 9513. The cartridge body 9510 alsocomprises longitudinal tissue compression rails 9515 and 9516 extendingupwardly from the deck 9512. The longitudinal compression rail 9515extends along a first side of the longitudinal slot 9520 and thelongitudinal compression rail 9516 extends along a second, or opposite,side of the longitudinal slot 9520.

Further to the above, referring primarily to FIGS. 37 and 38, the staplecartridge 9500 further comprises a staple 9540 stored in each staplecavity 9530 and staple drivers 9580 which support and drive the staples9540 out of the staple cavities 9530 during a staple firing stroke. Inthis embodiment, each staple driver 9580 only supports and drives onestaple 9540, but other embodiments are envisioned in which a stapledriver supports and drives more than one staple. The staple cartridge9500 also comprises a sled 9550 which progressively contacts the stapledrivers 9580 and lifts the staple drivers 9580 and staples 9540 withintheir respective staple cavities 9530 as the sled 9550 is moved distallyduring the staple firing stroke. Further to the above, the sled 9550 ispushed distally by a tissue cutting knife of a drive system during thestaple firing stroke. After the staple firing stroke has been completedand/or otherwise stopped, the tissue cutting knife is retracted backinto its unfired position. Notably, the sled 9550 is not retractedproximally and is instead left in its distal fired position. Such anarrangement can be used as part of a spent cartridge/missing cartridgefiring lockout, as discussed above.

Further to the above, the staple cartridge 9500 comprises an electrodecircuit 9590. The electrode circuit 9590 comprises an electricalconnector 9595 configured to engage a corresponding electrical connectorin a surgical instrument when the staple cartridge 9500 is seated in thesurgical instrument. The electrode circuit further comprises alongitudinal row of electrode contacts 9594 positioned in aperturesdefined in the longitudinal tissue compression rail 9516 and a flexcircuit 9592 and conductor bar 9596 electrically connecting theelectrode contacts 9594 to the electrical connector 9595. As discussedherein, electrical power is supplied to the electrode circuit 9590 toseal the patient tissue in co-operation with the staples 9540.

Further to the above, referring primarily to FIG. 38, each staple 9540of the staple cartridge 9500 comprises a base 9541 and legs 9542extending from the base 9541. Each staple driver 9580 comprises a seat9581 slideably positioned in a staple cavity 9530 which is configured toreceive and support the base 9541 of a staple 9540 positioned in thestaple cavity 9530. The seat 9581 of the staple driver 9580 is sized andconfigured such that it is closely received within its staple cavity9530. As a result, the movement of the staple driver 9580 isconstrained, or at least substantially constrained, to upward movementtoward the anvil positioned opposite the staple cartridge 9500 duringthe staple firing stroke. As such, the lateral movement, longitudinalmovement, and/or rotation of the staple driver 9580 within the staplecavity 9530 is prevented, or at least limited, owing to the close fittherebetween. In addition, each staple driver 9580 comprises a lateralsupport 9589 slideably positioned within a support cavity 9539 definedin the cartridge body 9510. The lateral supports 9589 of the stapledrivers 9580 extend inwardly and above the seats 9581 and are sized andconfigured such that the lateral supports 9589 are closely receivedwithin the support cavities 9539. As a result, the lateral supports 9589prevent, or at least limit, lateral movement, longitudinal movement,and/or rotation of the staple drivers 9580 within the staple cavities9530. In at least one embodiment, the lateral supports 9589 extend intocavities defined under the longitudinal compression rails 9515 and 9516when the staple drivers 9580 are in their fired positions, asillustrated in FIG. 39. Moreover, the lateral supports 9589 of one rowof the staple drivers 9580 are positioned under the electrode contacts9594 when the staple drivers 9580 are in their fired positions.

A staple cartridge 10500 is illustrated in FIGS. 39-41 and is similar tothe staple cartridge 9500 in many respects which are not discussedherein for the sake of brevity. The staple cartridge 10500 comprises acartridge body 10510 and longitudinal rows of staple cavities 10530defined therein. The staple cartridge 10500 further compriseslongitudinal rows of staple drivers 10580 configured to fire the staplespositioned in the staple cavities 10530. Each staple driver 10580comprises a staple seat slideably positioned in a staple cavity 10530, alateral support 10539 slideably positioned in a support cavity 10589,and a drive surface, or cam, 10585 positioned intermediate the stapleseat and the lateral support 10539. The drive cams 10585 of alongitudinal row of staple drivers 10580 are aligned, or at leastsubstantially aligned, with one another longitudinally such that a rampof a sled can sequentially engage all of the drive cams 10585 during thestaple firing stroke. The staple drivers 10580 are driven from anunfired, or low, position (FIG. 40) to a fired, or raised, position(FIGS. 39 and 41) by the sled during the staple firing stroke. Invarious instances, the staple drivers 10580, and the staples supportedthereon, may accidentally be displaced upwardly within the staplecavities 10530 while the staple cartridge 10500 is being handled and/orinserted into the stapling instrument. To prevent, or at least inhibit,this from happening, each staple driver 10580 comprises a latch 10588which is releasably engaged within a lock window 10517 defined in thecartridge body 10510 when the staple drivers 10580 are in their unfiredpositions. When the sled contacts the staple drivers 10580, however, thelatches 10588 release from the lock windows 10517 which permits thestaple drivers 10580 to be lifted into their fired positions. Moreover,the latch 10588 can engage a lock shoulder 10518 defined in thecartridge body 10510 to hold the staple driver 10580 in its firedposition so that the staple driver 10580 does not sink back down intoits staple cavity 10530 after the sled passes thereby. Such anarrangement allows the staple drivers 10580 to hold the staples in theirdeformed shapes thereby reducing spingback of the staples after thestaple firing stroke, for example.

A staple cartridge 11500 is illustrated in FIGS. 42-44 and is similar tothe staple cartridges 9500 and 10500 in many respects, most of whichwill not be discussed herein for the sake of brevity. The staplecartridge 11500 comprises a cartridge body 11510 including a deck 11512,a longitudinal slot 11520 configured to receive a tissue cutting knife,and longitudinal rows of staple cavities 11530 defined in the deck11512. The cartridge body 11510 further comprises longitudinal tissuecompression rails 11515 and 11516 extending upwardly from the deck11512. The staple cartridge 11500 further comprises staples removablystored in the staple cavities 11530, staple drivers 11580 configured tosupport and drive the staples during a staple firing stroke, and a sledconfigured to sequentially drive the staple drivers 11580 and thestaples from an unfired position to a fired position during the staplefiring stroke. The staple cartridge 11500 also comprises an electrodecircuit 11590 which, although not illustrated, includes electrodecontacts on the longitudinal tissue compression rails 11515 and 11516.

Further to the above, referring primarily to FIGS. 43 and 44, eachstaple driver 11580 comprises a staple seat 11581 including a slotconfigured to support a staple, a lateral support 11589, and a drive cam11585 connecting the staple seat 11581 and lateral support 11589.Notably, the lateral support 11589 of each staple driver 11580 ispositioned laterally inwardly with respect to the staple seat 11581 andis closely received within a support cavity defined in the cartridgebody 11510. The support cavities on one side of the staple cartridge11500 comprise openings 11519 defined in the longitudinal tissuecompression rail 11516 which are sized and configured to permit thelateral supports 11589 of the drivers 11580 to protrude upwardly fromthe cartridge body 11510 when the staple drivers 11580 are lifted intotheir unfired positions. Such an arrangement allows the lateral supports11589 to provide additional anti-roll stability to the staple drivers11580. In addition to or in lieu of the above, the longitudinal tissuecompression rail 11515 can comprise openings 11519 which are configuredto receive the lateral supports 11589 of the other row of staple drivers11580. Also, notably, the lateral support 11589 extends proximallyrelative to the staple seat 11581. Such an arrangement also providesanti-roll stability to the staple drivers 11580. In various alternativeembodiments, the lateral supports 11589 extend distally relative to thestaple seats 11581. Similar to the above, each staple driver 11580comprises a latch arm 11588 which releasably secures the staple driver11580 in its unfired and fired positions and provides additionalstability support in those positions.

A staple cartridge 12500 is illustrated in FIGS. 45-48B and is similarto the staple cartridges 9500, 10500, and 11500 in many respects, mostof which will not be discussed herein for the sake of brevity. Thestaple cartridge 12500 comprises a cartridge body 12510 including alongitudinal slot 12520 defined therein which is configured to receive atissue cutting knife. The cartridge body 12510 also includes alongitudinal row of staple cavities 12530 defined on each side of thelongitudinal slot 12520. The staple cartridge 12500 further comprisesstaples removably stored in the staple cavities 12530, longitudinal rowsof staple drivers 12580 configured to support and drive the staples, asled 12550 moveable from a proximal unfired position (FIG. 45) to adistal fired position to engage and drive the staple drivers 12580during a staple firing stroke, and a pan 12505 that is attached to andextends at least partially under the cartridge body 12510. The pan 12505prevents, or at least inhibits, the staple drivers 12580 from beingaccidentally dislodged from their unfired positions and/or falling outof the bottom of the cartridge body 12510 until the staple cartridge12500 is seated in a surgical instrument 12000 (FIG. 48A), for example.

Further to the above, referring primarily to FIGS. 46-48, each stapledriver 12580 comprises a staple seat 12581, two lateral supports 12589,and a drive cam 12585. One of the lateral supports 12589 islaterally-aligned with the staple seat 12581 and the other lateralsupport 12589 is positioned proximally with respect to the staple seat12581. Each staple driver 12580 further comprises staple supports 12582which limit the movement of the staple supported thereon. The staplesupports 12582 have a sufficient height to control the movement of thestaple and prevent the staple from sliding laterally off of the stapleseat 12581. In at least one embodiment, the staple supports 12582 extendabove the base of the staple positioned in the staple seat 12581.Notably, the staple supports 12582 have open longitudinal ends. Thatsaid, the longitudinal movement of the staples within the staplecavities 12530 can be constrained by the longitudinal ends of the staplecavities 12530. In any event, referring to FIG. 48, the overall heightof the staple seat 12581 is defined between the top of the staplesupports 12582 and a bottom surface 12583. As illustrated in FIG. 48,the overall height of the lateral supports 12589 is taller than theoverall height of the staple seat 12581. Moreover, the lateral supports12589 extend vertically above the staple seat 12581. Also, the lateralsupports 12589 extend vertically below the staple seat 12581. Such anarrangement stabilizes the staple seat 12581 during the staple formingprocess. Notably, referring to FIG. 48B, the pan 12505 comprisesclearance openings 12509 defined therein for the lateral supports 12589when the staple drivers 12580 are in their unfired position.

A staple cartridge 13500 is illustrated in FIGS. 49 and 50 and issimilar to the staple cartridges 9500, 10500, 11500, and 12500 in manyrespects, most of which will not be discussed herein out of the sake ofbrevity. The staple cartridge 13500 comprises a cartridge body 13510including a longitudinal slot 13520 configured to receive a tissuecutting knife. The cartridge body 13510 further comprises longitudinalrows of staple cavities 13530 defined therein. The staple cartridge13500 further comprises staples removably stored in the staple cavities13530 and longitudinal rows of staple drivers 13580 configured tosupport and drive the staples from an unfired position to a firedposition during a staple firing stroke. Each staple driver 13580comprises a staple seat 13581, two lateral supports 13589 positionedlaterally with respect to the staple seat 13581, and a drive cam 13585positioned between the staple seat 13581 and the lateral supports 13589.The staple seat 13581 further comprises staple supports 13582 whichdefine a groove configured to receive the base of a staple and enclosedlongitudinal ends 13586 which co-operatively limit the lateral andlongitudinal movement of the staple relative to the staple driver 13580.

Further to the above, each staple driver 13580 comprises a guide slot13584 defined in the staple seat 13581 which is slideably engaged with aguide rail 13514 defined in the cartridge body 13510. The guide rails13514 and the guide slots 13584 comprise co-operating features whichpermit the staple drivers 13580 to move upwardly within the staplecavities 13530 but prevent, or at least limit, lateral translation,longitudinal translation, and/or rotation of the staple drivers 13580within the staple cavities 13530. In various instances, the guide rails13514 are closely received within guide slots 13584 to prevent, orlimit, such relative movement. In at least one such embodiment, theguide rails 13514 and the guide slots 13584 comprise a dovetailarrangement, for example.

Further to the above, the staple cartridge 13500 further compriseselectrode contacts positioned on longitudinal rails 13515 extendingupwardly from the upper surface, or deck, of the cartridge body 13510.During use, the current flows from and/or trough the electrode contactsand into the patient tissue to heat, cauterize, and/or seal the patienttissue. In some instances, the patient tissue may stick to the electrodecontacts. The cartridge body 13510 further comprises longitudinal rowsof openings 13519 defined therein which are configured to permit thelateral supports 13589 to extend above the cartridge body 13510 when thestaple drivers 13580 are in their fired positions. In such instances,the lateral supports 13589 can lift the cauterized tissue away from theelectrode contacts and free the patient tissue from the staple cartridge13500. In such instances, the patient tissue is at least partiallycauterized before the tissue is incised and lifted away from thecartridge body 13510 during the staple firing stroke.

A staple driver 14580 is illustrated in FIGS. 51 and 52. The stapledriver 14580 comprises two staple seats 14581, a lateral support 14589,and a driver cam 14585 which connects the staple seats 14581 and thelateral support 14589 together. One of the staple seats 14581 ispositioned in a first staple cavity defined in a staple cartridge andthe other staple seat 14581 is positioned in a second staple cavitydefined in a staple cartridge. The staple seats 14581 are alignedlongitudinally with one another and aligned longitudinally with otherstaple seats 14581 of other staple drivers 14580 in the staplecartridge. Each staple seat 14581 comprises a groove configured tosupport the base of a staple and staple supports 14582 configured tolimit the relative movement of the staple base relative to the stapleseat 14581. Moreover, each staple seat 14581 comprises guide end rails14586 which extend into corresponding guide slots defined in the staplecavities which co-operatively prevent, or at least limit, lateraltranslation, longitudinal translation, and rotation of the staple seats14581 within their staple cavities. Further to the above, each stapleseat 14581 comprises a latch 14588 configured to releasably hold thestaple driver 14580 in its unfired position and/or fired position.

A staple cartridge 15500 is illustrated in FIGS. 53 and 54 and issimilar to the other staple cartridges disclosed herein in manyrespects, most of which will not be discussed herein for the sake ofbrevity. The staple cartridge 15500 comprises a cartridge body 15510including a deck, a longitudinal slot 15520 defined therein which isconfigured to receive a tissue cutting knife, and, also, a longitudinalrow of staple cavities 15530 defined on each side of the longitudinalslot 15520. The cartridge body 15510 further comprises a deck andlongitudinal tissue compression rails 15515 extending upwardly from thedeck. Further to the above, one or both of the tissue compression rails15515 is configured to support and/or house one or more electrodes. Asdiscussed in greater detail further below, the cartridge body 15510further comprises pocket extenders 15537 extending upwardly from thedeck. When patient tissue is clamped against the staple cartridge 15500,the pocket extenders 15537 atraumatically grip the patient tissue andprevent, or at least inhibit, the patient tissue from sliding relativeto the staple cartridge 15500.

Further to the above, the staple cartridge 15500 further comprisesstaples 15540 stored in the staple cavities 15530, staple drivers 15580configured to support and drive the staples 15540, and a sled 15550configured to sequentially engage the staple drivers 15580 during astaple firing stroke. Similar to the above, each staple 15540 comprisesa base and legs 15542 extending from the base. Each staple driver 15580comprises a seat configured to receive and support the base of a staple15540 positioned in a staple cavity 15530. Each staple driver 15580further comprises lateral supports 15589 which provide stability to theseat and a guide slot 15584 defined in the seat which co-operates with avertical guide rail 15534 defined in the staple cavity 15530 to controlthe movement of the staple driver 15580. The sled 15550 comprises acentral portion 15554 positioned in the longitudinal slot 15520 andprojections 15552 extending from the opposite sides of the centralportion 15554 which are configured to engage the sidewalls of thelongitudinal slot 15520. The interaction between the projections 15552and the sidewalls of the longitudinal slot 15520 inhibits the sled 15550from being accidentally moved distally prior to the staple firing strokebut permits the sled 15550 to be moved distally by the firing drive of asurgical instrument during the staple firing stroke. When the sled 15550is not being pushed distally by the firing drive, the sled 15550 is heldin position. The sled 15550 further comprises two ramps 15555—one oneach side of the central portion 15554—which are each configured toengage and drive a longitudinal row of staple drivers 15580.

A staple driver 21580 and a staple 21540 of a staple cartridge areillustrated in FIGS. 72-74. The staple 21540 is comprised of wire andincludes a base 21541 and legs 21542 extending upwardly from the base21541. The staple 21540 is depicted in its unfired configuration in FIG.72 and is substantially V-shaped, for example. In at least oneembodiment, the legs 21542 of the staple 21540 are engaged with thelongitudinal ends of a staple cavity which resiliently bias the legs21542 inwardly when the staple 21540 is positioned in the staple cavity.When the staple 21540 is moved from its unfired position to its firedposition by the staple driver 21540, the legs 21542 emerge from thestaple cavity and contact the anvil forming pockets positioned oppositethe staple cavity. In some instances, the legs 21542 begin to splayoutwardly as the staple 21540 is lifted upwardly into is fired position.The pocket extenders 15537 (FIG. 53) mentioned above in connection withthe staple cartridge 15500 can limit the outward splay of the staplelegs 21542 and assist in maintaining the alignment between the staplelegs 21542 and the anvil forming pockets.

Further to the above, the staple driver 21580 comprises a staple seat21581 including a groove defined therein which supports the base 21541of the staple 21540 and enclosed ends 21582 which co-operativelyprevent, or at least limit, the lateral translation and/or longitudinaltranslation of the staple base 21541 relative to the staple seat 21581.Notably, the enclosed ends 21582 of the staple seat 21581 extend abovethe base 21541 of the staple 21540 when the staple 21540 is positionedin the staple seat 21581. The staple driver 21580 further comprises adrive cam 21585 positioned laterally inwardly with respect to the stapleseat 21581 and a stability support 21589 extending from the drive cam21585. As the staple 21540 is pushed upwardly into its fired position bythe staple driver 21580, the enclosed ends 21582 of the staple driver21580 and the pocket extenders 15537 of the cartridge body 15510co-operatively support the staple legs 21582 as the staple 21580 isbeing deformed into its formed configuration.

A staple cartridge 16500 is illustrated in FIGS. 55-60 and is similar tothe other staple cartridges disclosed herein in many respects, most ofwhich will not be discussed herein out of the sake of brevity. Thestaple cartridge 16500 comprises a cartridge body 16510 including a deck16512, a longitudinal slot 16520 defined therein which is configured toreceive a tissue cutting knife, and a longitudinal row of staplecavities 16530 defined on each side of the longitudinal slot 16520. Thecartridge body 16510 further comprises longitudinal tissue compressionrails 16515 extending upwardly from the deck 16512 where one or both ofthe tissue compression rails 16515 is configured to support and/or houseone or more electrodes. The cartridge body 16510 further comprisespocket extenders 16537 extending upwardly from the deck 16512. Whenpatient tissue is clamped against the staple cartridge 16500, the pocketextenders 16537 atraumatically grip the patient tissue and prevent, orat least inhibit, the patient tissue from sliding relative to the staplecartridge 16500.

Further to the above, the staple cartridge 16500 further comprisesstaples stored in the staple cavities 16530, staple drivers 16580configured to support and drive the staples 16540, and a sled configuredto sequentially engage the staple drivers 16580 during a staple firingstroke. Referring primarily to FIG. 58, each staple driver 16580comprises a staple seat 16581, lateral supports 16589, and a drive camconnecting the lateral supports 16589. Each staple cavity 16530comprises a lateral support cavity 16539 within which the lateralsupports 16589 are closely received to resist unwanted lateral andlongitudinal translation and/or unwanted rotation of the staple driver16580. Notably, referring primarily to FIGS. 59 and 60, the top of thelateral support cavities 16539 are enclosed and provide an upward stopfor the staple drivers 16580 during the staple firing stroke. Inaddition, referring to FIGS. 57 and 58, each staple driver 16580 furthercomprises a latch, or lock arm, 16588 which releasably engages asidewall of a lock window 16517 defined in the cartridge body 16510 toreleasably hold the staple driver 16580 in its unfired position (FIG.59) until the staple driver 16580 is driven upwardly by the sled. Thelock arm 16588 comprises a cantilever which flexes inwardly when thestaple driver 16580 is lifted upwardly by the sled and then resilientlyflexes outwardly when the staple driver 16580 reaches its fired position(FIG. 60). In such instances, the lock arm 16588 engages the deck 16512and holds the staple driver 16580 in its fired position.

A staple cartridge 17500 is illustrated in FIGS. 61-63, and is similarto the other staple cartridges disclosed herein in many respects, mostof which will not be discussed herein out of the sake of brevity. Thestaple cartridge 17500 comprises a cartridge body 17510 including a deck17512, a longitudinal slot 17520 defined therein which is configured toreceive a tissue cutting knife, and a longitudinal row of staplecavities 17530 defined on each side of the longitudinal slot 17520. Thecartridge body 17510 further comprises longitudinal tissue compressionrails 17515 extending upwardly from the deck 17512 where one or both ofthe tissue compression rails 17515 is configured to support and/or houseone or more electrodes. The cartridge body 17510 further comprisespocket extenders 17537 extending upwardly from the deck 17512. Whenpatient tissue is clamped against the staple cartridge 17500, the pocketextenders 17537 atraumatically grip the patient tissue and prevent, orat least inhibit, the patient tissue from sliding relative to the staplecartridge 17500.

Further to the above, the staple cartridge 17500 further comprisesstaples stored in the staple cavities 17530, staple drivers 17580configured to support and drive the staples, and a sled configured tosequentially engage the staple drivers 17580 during a staple firingstroke. Referring primarily to FIG. 63, each staple driver 17580comprises a staple seat 17581 which defines a groove configured toreceive the base of a staple, staple supports 17582 extending to thelateral sides of the groove, lateral supports 17589, and a drive cam17585 connecting the lateral supports 17589 to the staple seat 17581.Each staple cavity 17530 comprises a lateral support cavity within whichthe lateral supports 17589 are closely received to resist unwantedlateral and longitudinal translation and/or unwanted rotation of thestaple driver 17580. Notably, the lateral supports 17589 of each stapledriver 17580 define a guide slot 17584 therebetween which closelyreceives a guide rail 17534 defined in a staple cavity 17530. The guideslot 17584 and guide rail 17534 co-operatively constrain the movement ofthe staple driver 17580 to vertical movement within the staple cavity17530. Also, notably, the lateral supports 17589 are positionedlaterally outwardly with respect to the staple seat 17581 and do notextend under the longitudinal tissue compression rails 17515. Inaddition, each staple driver 17580 further comprises a latch, or lockarm, 17588 which is releasably engaged with a sidewall of an internallock window defined in the cartridge body 17510 to releasably hold thestaple driver 17580 in its unfired position until the staple driver17580 is driven upwardly by the sled. The lock arm 17588 comprises acantilever which flexes inwardly when the staple driver 17580 is liftedupwardly by the sled and then resiliently flexes outwardly when thestaple driver 17580 reaches its fired position. In such instances, thelock arm 17588 engages the deck 17512 and holds the staple driver 17580in its fired position. A lock shoulder of the lock arm 17588 facesoutwardly toward the lateral supports 17589 but could extend in anysuitable direction.

A staple cartridge 18500 is illustrated in FIGS. 64 and 65 and issimilar to the other staple cartridges disclosed herein in manyrespects, most of which are not discussed herein for the sake ofbrevity. The staple cartridge 18500 comprises a cartridge body 18510including a longitudinal slot 18520 configured to receive a tissuecutting knife and a longitudinal row of staple cavities 18530 defined oneach side of the longitudinal slot 18520. The cartridge body 18510further comprises an upper portion, or deck, 18512 and longitudinaltissue compression rails 18515 and 18516 extending upwardly from thedeck 18512. The staple cartridge 18500 further comprises a staple 18540positioned in each staple cavity 18530, staple drivers 18580 configuredto support and drive the staples 18540 during a staple firing stroke,and a sled configured to contact and drive the staple drivers 18580. Thestaple cartridge 18500 further comprises an electrode circuit 18590including electrode contacts 18594 housed within the longitudinal tissuecompression rail 18516 and a conductor 18596 electrically connecting theelectrode contacts 18594. As illustrated in FIG. 64, each electrodecontact 18594 extends longitudinally and the electrode contacts 18594collectively extend along a substantial majority of the longitudinaltissue compression rail 18516. In at least one embodiment, the electrodecontacts 18594 extend along at least 90% of the longitudinal length ofthe tissue compression rail 18516, for example. In at least oneembodiment, the electrode contacts 18594 cover at least 95% of thelongitudinal length of the tissue compression rail 18516, for example.

A staple cartridge 19500 is illustrated in FIGS. 66-69 and is similar tothe other staple cartridges disclosed herein in many respects, most ofwhich will not be discussed herein out of the sake of brevity. Thestaple cartridge 19500 comprises a cartridge body 19510 including adeck, a longitudinal slot 19520 configured to receive the firing member1570 (FIG. 69) of the firing drive 1600, and longitudinal rows of staplecavities 19530. The staple cartridge 19500 further comprises a staple19540 positioned in each staple cavity 19530, staple drivers 19580configured to support and drive the staples 19540 during a staple firingstroke, and a sled 19550 configured to sequentially contact and push thestaple drivers 19580 and 19540 upwardly within the staple cavities 19530during the staple firing stroke. Referring primarily to FIG. 67, thesled 19550 comprises a central portion 19554 which slides within thelongitudinal slot 19520, and lateral ramps 19555 which slide withinlongitudinal ramp slots defined in the cartridge body 19510 and engagethe staple drivers 19580. When the staple cartridge 19500 is seated inthe cartridge jaw 1310, referring primarily to FIG. 69, the sled 19550is positioned over, but not operably engaged with, the drive screw 1560.Notably, the drive screw 1560 is closely received within a clearanceslot 19553 defined in the bottom of the sled 19550 such that there islittle gap between the drive screw 1560 and the sled 19550. During thestaple firing stroke, the drive screw 1560 is rotated to drive thefiring member 1570 distally which pushes the sled 19550 distally.

Further to the above, the firing member 1570 is configured to pull theanvil jaw toward the staple cartridge 19500 during the staple firingstroke. In many instances, as a result, the staple cartridge 19500 canexperience a significant compressive load—especially around the staples19540 being deformed against the anvil jaw. Notably, the sled 19550 ispositioned directly under the staple drivers 19580 being lifted by thesled 19550 and can support the cartridge body 19510 if it deflectsdownwardly as a result of the compressive load. Referring again to FIGS.66 and 67, the sled 19550 comprises angled support shoulders 19551defined on opposite sides thereof. The angled support shoulders 19551 ofthe sled 19550 are directly adjacent to and/or are in abutting contactwith angled shoulders 19511 defined in the cartridge body 19510 whichextend along the longitudinal length thereof. As a result, the cartridgebody 19510 can be directly supported by the sled 19550 and limit thedeflection of the cartridge body 19510 during the staple firing stroke.In some instances, the sled 19550 can be pushed downwardly against thedrive screw 1560 by the cartridge body 19510. As such, the surface ofthe clearance aperture 19553 in the sled 19550 is smooth such that thesled 19550 can slide over and relative to the drive screw 1560 eventhough the drive screw 1560 is rotating.

Further to the above, each staple driver 19580 comprises a lateralstability support 19589 configured to slide within a support slot 19539defined in the cartridge body 19510. Each staple driver 19580 furthercomprises a clearance recess 19583 defined therein which is configuredto closely receive the drive screw 1560 when the staple drivers 19580are in their unfired positions. Such an arrangement allows for a staplecartridge 19500 that is vertically compact.

A staple cartridge 20500 is illustrated in FIGS. 70 and 71. The staplecartridge 20500 comprises a cartridge body 20510 comprising staplecavities, a pan 20505 attached to the cartridge body 20510, staplesremovably stored in the staple cavities, and staple drivers. The pan20505 comprises a plurality of latches and/or lock windows engaged withfeatures defined on the cartridge body 20510 which secure the pan 20505to the cartridge body 20510. Further to the above, the pan 20505 atleast partially extends under the cartridge body 20510 and prevents, orat least inhibits, the staple drivers and staples stored within thecartridge body 20510 from being accidentally dislodged from theirunfired positions when the staple cartridge 20500 is loaded into acartridge jaw.

Further to the above, the cartridge body 20510 further comprisessupports 20501 embedded therein. In at least one embodiment, thecartridge body 20510 is comprised of a plastic material which isinjection molded around the supports 20501 such that the supports 20501are integrally-formed with the cartridge body 20510. Referring to FIG.71, each support 20501 comprises an upper portion 20502 embedded in thedeck of the cartridge body 20510 and a lower portion 20503 which extendsout of the bottom of the cartridge body 20510. When the pan 20505 isassembled to the cartridge body 20510, the lower portions 20503 of thesupports 20501 are engaged with and/or directly adjacent to the pan20505. When a compression load is applied to the staple cartridge 20500as a result of the end effector being closed, further to the above, thesupports 20501 resist the downward deflection of the cartridge body20510 by transmitting at least a portion of the compression load intothe pan 20505. During the staple firing stroke, in at least oneembodiment, the supports 20501 yield, or give way, under the compressiveload and/or as the result of the sled contacting the supports 20501 andbending them out of contact with the pan 20505. As a result of theabove, the staple cartridge 20500 is able to resist the compressiveloading during use but is not re-usable.

A staple cartridge 22500 is illustrated in FIGS. 75-79 and is similar toother staple cartridge disclosed herein in many respects, most of whichwill not be discussed herein for the sake of brevity. The staplecartridge 22500 comprises a cartridge body 22510 including staplecavities 22530 defined therein, a staple positioned in each staplecavity 22530, staple drivers 22580 configured to drive the staplesupwardly within the staple cavities 22530, and a sled 22550 movable froma proximal unfired position (FIG. 77) to a distal fired position (FIG.79) to engage the staple drivers 22580 during a staple firing stroke.Referring primarily to FIGS. 75 and 76, the sled 22550 comprises lateralangled drive plane surfaces 22555 configured to engage and lift thestaple drivers 22580 during the staple firing stroke. Each angled driveplane surface 22555 extends from the distal, or wedge tip, end of thesled 22550 to the proximal, apex, end of the sled 22550. Each stapledriver 22580 comprises a corresponding angled cam plane surface whichslides upwardly on one of the angled drive plane surfaces 22555 as thesled 22550 slides under the staple drivers 22850. Each staple driver22850 comprises a guide key 22859 extending therefrom which is slideablyreceived in a key slot defined in the cartridge body 22510 whichconstrains the motion of the staple drivers 22850 to vertical movementwithin the cartridge body 22510.

FIGS. 80-85 illustrate a drive system 23000 for use with a surgicalinstrument, such as those described herein. The drive system 23000comprises a shift motor 23100, a drive motor 23300, and a lock bar, orbrake, 23400. Referring primarily to FIG. 81, the shift motor 23100comprises a rotary output shaft 23110 including an external threadportion 23120. The shift motor 23100 may be a stepper motor or anysuitable motor configured to actuate the rotary output shaft 23110between a plurality of set rotated positions. The threaded portion 23120is threadably engaged with a motor carrier 23200. Specifically, internalthreads of the motor carrier 23200 are threadably engaged with theexternal thread portion 23120 of the rotary output shaft 23110. As such,when the rotary output shaft 23110 is rotated in a first direction, themotor carrier 23200 is translated distally. Notably, the motor carrier23200 does not rotate with the rotary output shaft 23110.Correspondingly, when the rotary output shaft 23110 is rotated in asecond direction opposite the first direction, the motor carrier 23200is translated proximally.

Further to the above, the motor carrier 23200 comprises an opening 23220configured to receive the drive motor 23300. The drive motor 23300 isfixed and/or attached to the motor carrier 23200 such that the drivemotor 23300 translates with the motor carrier 23200. Any suitable methodmay be utilized to affix the drive motor 23300 within the opening 23220of the motor carrier 23200 such as welding, and/or adhesives, and/orfasteners, for example. Other embodiments are envisioned where the drivemotor 23300 is press fit into the opening 23220 of the motor carrier23200. Further, other embodiments are envisioned where the motor carrier23200 and the drive motor 23300 are one unitary component. In any event,the motor carrier 23200 and the drive motor 23300 translate togetherbetween a plurality of positions in response to the actuation of therotary output shaft 23110 of the shift motor 23100 between a pluralityof radial positions.

Further to the above, the drive motor 23300 comprises a rotary outputshaft, or drive motor shaft 23310. The drive motor shaft 23310 extendsdistally from a body portion 23305 of the drive motor 23300. The drivemotor shaft 23310 comprises a proximal radial groove 23320 and a distalradial groove 23330 spaced apart from one another along the drive motorshaft 23310. The radial grooves 23320, 23330 define narrower shaftportions compared to the remainder of the drive motor shaft 23310.Further, the drive system 23000 comprises a main drive gear 23340 fixedto the drive motor shaft 23310 intermediate the proximal radial groove23320 and the distal radial groove 23330. The main drive gear 23340 maybe fixed to the drive motor shaft 23310 using any suitable means such aswelding, and/or fasteners, and/or adhesives, for example. Otherembodiments are envisioned where the main drive gear 23340 is press fitonto the drive motor shaft 23310, for example. In any event, rotation ofthe drive motor shaft 23310 via the drive motor 23300 will result in therotation of the main drive gear 23340. Further, the main drive gear23340 is configured to rotate one of a plurality of output drive gearsand their respective output shafts depending upon the longitudinalposition of the drive motor 23300, as discussed in greater detail below.

Further to the above, the drive system 23000 further comprises a lockbar, or brake 23400, a first output gear 23500, a second output gear23600, and a third output gear 23700. Referring primarily to FIG. 81,the brake 23400 comprises a body portion 23405 including a clevisportion 23407 extending laterally from the body portion 23405. Theclevis portions 23407 comprises a proximal collar 23410 and a distalcollar 23420 spaced apart from one another. The proximal collar 23410 isconfigured to be received around the proximal radial groove 23320, andthe distal collar 23420 is configured to be received around the distalradial groove 23330. Specifically, the proximal collar 23410 comprises aproximal opening 23412 which receives the drive motor shaft 23310 in theregion of the proximal radial groove 23320. Further, the distal collar23420 comprises a distal opening 23422 which receives the drive motorshaft 23310 in the region of the distal recess 23330. Further, the brake23400 is free to rotate about the drive motor shaft 23310. As such, thebrake 23400, the drive motor 23300, and the drive motor shaft 23310translate together when the shift motor 23100 is actuated; however, thebrake 23400 does not rotate with the drive shaft 23310. Otherembodiments are envisioned where the brake 23400 is operably attached tothe handle or housing of the instrument such that the brake 23400translates with the drive motor 23300 without the brake 23400 beingattached to the drive motor shaft 23310. In any event, the brake 23400translates with the drive motor shaft 23310 to selectively engage two ofthe three output gears 23500, 23600, and 23700 to prevent their rotationwhile permitting one of the three output gears 23500, 23600, and 23700to rotate, as discussed in greater detail below.

Referring primarily to FIG. 81, the first output gear 23500 comprises afirst output shaft 23510 extending distally therefrom, the second outputgear 23600 comprises a second output shaft 23610 extending distallytherefrom, and the third output gear 23700 comprises a third outputshaft 23710 extending distally therefrom. The output drive shafts 23510,23610, 23710 are rotatably supported within the handle or housing of theinstrument and are configured to effectuate different motions within anend effector or stapling attachment of a surgical instrument. Further,the output drive shafts 23510, 23610, 23710 are nested within oneanother. Specifically, the first output drive shaft 23510 is receivedwithin an opening 23620 in the second output drive shaft 23610, and thefirst and second output drive shafts 23510, 23610 are received within anopening 23720 in the third output drive shaft 23710. As such, the outputdrive shafts 23510, 23610, 23710 are rotatable relative to one anotherabout the same longitudinal axis.

Referring primarily to FIG. 82, the brake 23400 comprises a pair oflongitudinal teeth 23430 extending laterally from the body portion23405. The pair of longitudinal teeth 23430 extend longitudinally alongthe entire body portion 23405 except for a gap 23440 defined in the pairof longitudinal teeth 23430. Specifically, FIGS. 83-85 illustrate thegap 23440 in the pair of longitudinal teeth 23430. The longitudinalteeth 23430 are configured to meshingly engage with teeth of the outputgears 23500, 23600, 23700 to selectively prevent their rotationdepending upon the longitudinal position of the brake 23400.Specifically, the longitudinal position of the brake 23400, which istranslatable by the shift motor 23100, determines which of the outputgears 23500, 23600, 23700 can be freely rotated, as discussed in greaterdetail below.

In use, when the shift motor 23100 positions the drive motor 23300 andbrake 23400 in a first position, as illustrated in FIG. 83, teeth on themain drive gear 23340 are meshingly engaged with teeth on the firstoutput gear 23500. As such, rotation of the main drive gear 23340 willrotate the first output gear 23500 and the first output drive shaft23510 to perform a first end effector function. Further, the gap 23440of the brake 23400 is positioned such that the pair of longitudinalteeth 23430 of the brake 23400 are only engaged with the second outputgear 23600 and the third output gear 23700 and, thus, the second outputgear 23600 and the third output gear 23700 are prevented fromrotating—thereby locking out a second end effector function and a thirdend effector function.

In various embodiments, the first end effector function comprises thearticulation of the end effector, for example. In at least one suchembodiment, the end effector of the surgical instrument is rotatableabout an articulation joint. In at least one embodiment, the second endeffector function comprises rotating the end effector about alongitudinal axis, for example. In at least one such embodiment, thesurgical instrument comprises a rotation joint proximal to thearticulation joint which permits at least a portion of the shaft and theend effector of the surgical instrument to rotate about the longitudinalaxis. In at least one embodiment, the surgical instrument comprises arotation joint distal to the articulation joint which permits the endeffector to rotate relative to the shaft about a longitudinal axis. Inat least one embodiment, the third end effector function comprisesadvancing a tissue cutting knife distally through the end effector, forexample.

Further to the above, when the shift motor 23100 positions the drivemotor 23300 and the brake 23400 in a second position, as illustrated inFIG. 84, the teeth of the main drive gear 23340 are meshingly engagedwith the teeth of the second output gear 23600. As such, rotation of themain drive gear 23340 will rotate the second output gear 23600 and thesecond output drive shaft 23610. Further, the gap 23440 of the brake23400 is positioned such that the pair of longitudinal teeth 23430 ofthe brake 23400 are only engaged with the first output gear 23500 andthe third output gear 23700—and not the second output gear 23600—and,thus, the first output gear 23500 and the third output gear 23700 areprevented from rotating.

Further to the above, when the shift motor 23100 positions the drivemotor 23300 and the brake 23400 in a third position, as illustrated inFIG. 85, the teeth of the main drive gear 23340 are meshingly engagedwith teeth of the third output gear 23700. As such, rotation of the maindrive gear 23340 will rotate the third output gear 23700 and the thirdoutput drive shaft 23710. Further, the gap 23440 of the brake 23400 ispositioned such that the pair of longitudinal teeth 23430 of the brake23400 are only engaged with the first output gear 23500 and the secondoutput gear 23600—and not the third output gear 23700—and, thus, thefirst output gear 23500 and the second output gear 23600 are preventedfrom rotating.

FIGS. 86-92 illustrate a drive system 24000 for use with a surgicalinstrument, such as those described herein. The drive system 24000comprises a drive motor 24100 and a shift motor 24200. Referringprimarily to FIG. 89, the drive motor 24100 comprises a rotary inputshaft 24110 and a drive motor gear 24120 mounted onto the rotary inputshaft 24110. The drive motor gear 24120 is operably engaged with a firstidler gear 24130, a second idler gear 24140, and a third idler gear24150. Specifically, the teeth of the drive motor gear 24120 aremeshingly engaged with only the teeth of the first idler gear 24130while the teeth of the first idler gear 24130 are meshingly engaged withthe teeth of the second idler gear 24140 and the teeth of the thirdidler gear 24150. The second idler gear 24140 and the third idler gear24150 are positioned on opposite sides of the first idler gear 24130. Assuch, rotation of the drive motor gear 24120 via the drive motor 24100results in simultaneous rotation of the first idler gear 24130, thesecond idler gear 24140, and the third idler gear 24150. The above beingsaid, other embodiments are envisioned where the drive motor gear 24120is positioned in between all three idler gears 24130, 24140, 24150 andmeshingly engaged with all three idler gears 24130, 24140, 24150.

Referring primarily to FIG. 88, the first idler gear 24130 is mounted toa first rotary input shaft 24132, the second idler gear 24140 is mountedto a second rotary input shaft 24142, and the third idler gear 24150 ismounted to a third rotary input shaft 24152. In the illustratedembodiment, the drive motor gear 24120 and the idler gears 24130, 24140,24150 are attached to their respective shafts 24132, 24142, 24152 via apin, or screw. However, other embodiments are envisioned where the drivemotor gear 24120 and the idler gears 24130, 24140, 24150 are fixedand/or attached to their respective shafts 24132, 24142, 24152 using anysuitable means such as welding, adhesives, press fitting, etc., forexample. In any event, the first rotary input shaft 24132 comprises afirst input clutch 24134 extending from its distal end, the secondrotary input shaft 24142 comprises a second input clutch 24144 extendingfrom its distal end, and the third rotary input shaft 24152 comprises athird input clutch 24154 extending from its distal end. The inputclutches 24134, 24144, 24154 are configured to be selectively engageablewith three different output clutches, as discussed in greater detailbelow.

Referring primarily to FIG. 88, the shift motor 24200 comprises a shiftmotor shaft 24210 comprising a rotary index shaft 24220. The rotaryindex shaft 24220 defines a longitudinal axis LA and is configured torotate about its longitudinal axis LA when the shift motor 24200 isactuated. The shift motor 24200 may be a stepper motor or any suitablemotor configured to actuate the rotary index shaft 24220 between aplurality of set rotated positions, for example. Further, the rotaryindex shaft 24220 comprises three separate cam profiles 24222, 24224,24226 extending all the way around the rotary index shaft 24220, asdiscussed in greater detail below.

Further to the above, the rotary index shaft 24220 comprises a first camprofile 24222, a second cam profile 24224, and a third cam profile24226. Each of the first, second, and third cam profiles 24222, 24224,24226 define a radial groove in the rotary index shaft 24220. Further,each cam profile 24222, 24224, 24226 is different when viewed inreference to the longitudinal axis LA. Specifically, the first camprofile 24222 is identical to the second cam profile 24224; however, thesecond cam profile 24224 is rotated approximately 60 degrees relative tothe first cam profile 24222 about the longitudinal axis LA. Further, thesecond cam profile 24224 is identical to the third cam profile 24226;however, the third cam profile is rotated approximately 60 degreesrelative to the second cam profile 24225. It shall be understood thatany suitable orientation of the cam profiles 24222, 24224, 24226relative to one another are contemplated. As discussed in greater detailbelow, each of the cam profiles 24222, 24224, 24226 are distinctlydefined in the rotary index shaft 24220 relative to the longitudinalaxis LA to effectuate different movements of three separate cams.

Referring primarily to FIG. 88, a first cam 24300 comprises an opening24310 configured to receive the rotary index shaft 24220. The first cam24300 comprises a first cam pin 24320 (see FIG. 87) extending throughthe opening 24310 and into the first cam profile 24222 such that thefirst cam pin 24320 rides within and along the first cam profile 24222when the rotary index shaft 24220 is rotated. Further, a second cam24400 comprises an opening 24410 configured to receive the rotary indexshaft 24220. The second cam 24400 comprises a second cam pin 24420 (seeFIG. 87) extending through the opening 24410 and into the second camprofile 24224 such that the second cam pin 24420 rides within and alongthe second cam profile 24224 when the rotary index shaft 24220 isrotated. Further, a third cam 24500 comprises an opening 24510configured to receive the rotary index shaft 24220. The third cam 24500comprises a third cam pin 24520 extending through the opening 24510 andinto the third cam profile 24226 such that the third cam pin 24520 rideswithin and along the third cam profile 24226 when the rotary index shaft24220 is rotated. As discussed in greater detail below, each of the cams24300, 24400, 24500 can translate longitudinally relative to thelongitudinal axis LA when the rotary index shaft 24220 is rotated aboutthe longitudinal axis LA.

Referring primarily to FIG. 88, the first cam 24300 comprises a firstlateral flange 24330 and a first opening 24340 defined in the firstlateral flange 24330. The second cam 24400 comprises a second lateralflange 24430 and a second opening 24440 defined in the second lateralflange 24430. The third cam 24500 comprises a third lateral flange 24530and a third opening 24540 defined in the third lateral flange 24530. Afirst rotary output shaft 24600 extends through the first opening 24340,a second rotary output shaft 24700 extends through the second opening24440, and a third rotary output shaft 24800 extends through the thirdopening 24540, as discussed in greater detail below.

Further to the above, the first rotary output shaft 24600, the secondrotary output shaft 24700, and the third rotary output shaft 24800 arerotatably mounted to the surgical instrument. The output shafts 24600,24700, 24800 are rotatably supported within the instrument by thrustbearings, for example, and/or any other suitable means. A first outputclutch 24610 is slideably mounted on the proximal end of the firstrotary output shaft 24600. The first output clutch 24610 comprises aprotrusion, or key, 24630 positioned in a groove 24640 defined in thefirst output shaft 24600. The protrusion and groove arrangement 24630,24640 permits the first output clutch 24610 to slide, or translate,relative to the first output shaft 24600 and also rotate with the firstoutput shaft 24600. Further, a second output clutch 24710 is slideablymounted on the proximal end of the second rotary output shaft 24700. Thesecond output clutch 24710 comprises a protrusion, or key, 24730positioned in a groove 24740 defined in the second output shaft 24700.The protrusion and groove arrangement 24730, 24740 permits the secondoutput clutch 24710 to slide, or translate, relative to the secondoutput shaft 24700 and also rotate with the second output shaft 24700.Further, a third output clutch 24810 is slideably mounted on theproximal end of the third rotary output shaft 24800. The third outputclutch 24810 comprises a protrusion, or key, 24830 positioned in agroove 24840 in the third output shaft 24800. The protrusion and groovearrangement 24830, 24840 permits the third output clutch 24810 to slide,or translate, relative to the third output shaft 24800 and also rotatewith the third output shaft 24800.

Referring primarily to FIG. 88, the first output clutch 24610 comprisesa first radial groove 24620 that is received in—and rotatable within—thefirst opening 24340 of the first cam 24300. The second output clutch24710 comprises a second radial groove 24720 that is received in—androtatable within—the second opening 24440 of the second cam 24400. Thethird output clutch 24810 comprises a third radial groove 24820 that isreceived in—and rotatable within—the third opening 24540 of the thirdcam 24500. As such, the first output clutch 24610 is rotatable relativeto the first cam 24300, the second output clutch 24710 is rotatablerelative to the second cam 24400, and the third output clutch 24810 isrotatable relative to the third cam 24500. Further, the sidewalls of theradial grooves 24620, 24720, 24820 of the output clutches 24610, 24710,24810, respectively, provide bearing surfaces for the cam members 24300,24400, 24500 to translate the output clutches 24610, 24710, 24810relative to their respective output shafts 24600, 24700, 24800. Asdiscussed in greater detail below, such translation of the outputclutches 24610, 24710, 24810 relative to their respective output shafts24600, 24700, 24800 allows the output clutches 24610, 24710, 24810 to beselectively engaged with and disengaged from their respective inputclutches 24134, 24144, 24154.

Referring to FIG. 90, the rotary index shaft 24220 of the shift motor24200 is in a first radial position relative to the longitudinal axisLA. The cams 24300, 24400, 24500 are in a first configuration when therotary index shaft 24200 is in its first radial position. In the firstconfiguration, the first cam 24300 and the first output clutch 24610 arein a distal position where the first output clutch 24610 is not engagedwith the first input clutch 24134. Further, in the first configuration,the second cam 24400 and the second output clutch 24710 are in aproximal position where the second output clutch 24710 is engaged withthe second input clutch 24144. Further, in the first configuration, thethird cam 24500 and the third output clutch 24810 are in a distalposition where the third output clutch is not engaged with the thirdinput clutch 24154. As such, in the first configuration, only the secondoutput clutch 24710 is engaged with its respective input clutch 24400.Therefore, when the cams 24300, 24400, 24500 are in their firstconfiguration (FIG. 90), rotation of drive motor gear 24120 will resultin rotation of the second output shaft 24700.

Referring to FIG. 91, the rotary index shaft 24220 has been rotated intoa second radial position about the longitudinal axis LA from the firstradial position in FIG. 90. The cams 24300, 24400, 24500 are in a secondconfiguration when the rotary index shaft 24220 is in its second radialposition. Specifically, the first cam 24300 and the second cam 24400have moved toward one another while the third cam 24500 remains in thesame longitudinal position as in the first configuration of FIG. 90. Thefirst cam 24300 and the second cam 24400 are translated toward oneanother due to the first and second cam profiles 24222, 24224 of therotary index shaft 24220 cammingly engaging the first and second campins 24320, 24420 of the first and second cams 24300, 24400 when therotary index shaft 24220 is rotated from its first radial position toits second radial position. A dwell of the third cam profile 24226 isradially oriented relative to the first and second cam profiles 24222,24224 such that the third cam pin 24520 is not translated when therotary index shaft 24200 rotates from its first radial position to itssecond radial position. As such, the third cam 24500 and the thirdoutput clutch 24810 do not translate when the rotary index shaft 24220rotates from its first radial position to its second radial position.

Further to the above, when the cams 24300, 24400, 24500 are in thesecond configuration as illustrated in FIG. 91, the first cam 24300 andthe first output clutch 24610 are in a proximal position where the firstoutput clutch 24610 is engaged with the first input clutch 24134.Further, in the second configuration, the second cam 24400 and thesecond output clutch 24710 are in a distal position where the secondoutput clutch 24710 is not engaged with the second input clutch 24144.Further, in the second configuration, the third cam 24500 and the thirdoutput clutch 24810 remain in their distal position where the thirdoutput clutch 24810 is not engaged with the third input clutch 24154. Assuch, in the second configuration, only the first output clutch 24610 isengaged with its respective input clutch 24134. Therefore, when the cams24300, 24400, 24500 are in their second configuration (FIG. 91),rotation of drive motor gear 24120 will result in rotation of firstoutput shaft 24600.

Referring to FIG. 92, the rotary index shaft 24220 has been rotated intoa third radial position about the longitudinal axis LA from its secondradial position in FIG. 91. The cams 24300, 24400, 24500 are in a thirdconfiguration when the rotary index shaft 24220 is in its third radialposition. Specifically, the first cam 24300 and the third cam 24500 moveaway from one another while the second cam 24400 remains in the samelongitudinal position as the second configuration (FIG. 91). The firstcam 24300 and the third cam 24500 are translated away from one anotherdue the first and third cam profiles 24222, 24226 of the rotary indexshaft 24222 cammingly engaging the first and third cam pins cam pins24320, 24520 of the first and third cams 24300, 24500 when the rotaryindex shaft 24220 is rotated from its second radial position to itsthird radial position. A dwell of the second cam profile 24224 isradially oriented relative to the first and third cam profiles 24222,24226 such that the second cam pin 24420 is not translated when therotary index shaft 24200 rotates from its second radial position to itsthird radial position. As such, the second cam 24400 and the secondoutput clutch 24710 do not translate when the rotary index shaft 24220rotates from its second radial position to its third radial position.

Further to the above, when the cams 24300, 24400, 24500 are in the thirdconfiguration as illustrated in FIG. 92, the first cam 24300 and thefirst output clutch 24610 are in the distal position where the firstoutput clutch 24610 is not engaged with the first input clutch 24134.Further, in the third configuration, the second cam 24400 and the secondoutput clutch 24710 remain in the distal position where the secondoutput clutch 24710 is not engaged with the second input clutch 24144.Further, in the third configuration, the third cam 24500 and the thirdoutput clutch 24810 are in a proximal position where the third outputclutch 24810 is engaged with the third input clutch 24154. As such, inthe third configuration, only the third output clutch 24810 is engagedwith its respective input clutch 24154. Therefore, when the cams 24300,24400, 24500 are in their third configuration (FIG. 92), rotation ofdrive motor gear 24120 will result in rotation of third output shaft24800.

Referring to FIG. 86, the rotary index shaft 24220 is in a fourth radialposition that is different than the first radial position (FIG. 90), thesecond radial position (FIG. 91), and the third radial position (FIG.92). When the rotary index shaft 24220 is in the fourth radial position,the cam members 24300, 24400, 24500 are in a fourth configuration. Inthe fourth configuration, the cams 24300, 24400, 24500 and theirrespective output clutches 24610, 24710, 24810 are in their distalpositions where the output clutches 24610, 24710, 24810 are not engagedwith their respective input clutches 24134, 24144, 24154. As such, whenthe cams 24300, 24400, 24500 are in the fourth configuration (FIG. 86),rotation of drive motor gear 24120 will not result in the rotation ofany of the output shafts 24600, 24700, 24800.

FIGS. 93-96 depict a surgical instrument assembly 25000 comprising ashaft 25010, an end effector 25020, and an articulation joint, orregion, 25030. The surgical instrument assembly 25000 further comprisesa primary drive shaft 25060 configured to actuate a function of the endeffector 25020 and articulation actuators 25050 configured to articulatethe end effector 25020 relative to the shaft 25020 about pivot axis PA.The shaft 25010 comprises a distal end 25011 comprising tabs 25012extending from the distal end 25011 of the shaft 25010. The shaft 25010further comprises a central cavity 25014 configured to receive theprimary drive shaft 25060 and articulation actuators 25050 therethrough.The central cavity 25014 may also receive other drive shafts, framecomponents, and/or electrical components therethrough, for example. Theend effector 25020 comprises a proximal end 25021 comprising tabs 25023extending from the proximal end 25021 of the end effector 25020. Thetabs 25012 are pivotally coupled to the tabs 25023 to pivotally couplethe shaft 25010 and the end effector 25020 together an enablearticulation of the end effector 25020 relative to the shaft 25010. Thetabs 25012 and the tabs 25023 are pivotally coupled to each other by wayof pins 25031. The pivot axis PA is defined by the pins 25031.

The articulation joint 25030 comprises an articulation support pivot25040. The articulation support pivot 25040 comprises a cylindricalmember positioned within a cavity 25022 defined between the tabs 25012and the tabs 25023 and is configured to pivot when actuated byarticulation actuators 25050. While the term ‘cylindrical’ is used, thearticulation support pivot need not resemble a perfect cylinder. Eacharticulation actuator 25050 comprises a distal end 25051. The distalends 25051 are pinned to the articulation support pivot 25040 by way ofactuation pin 25035. The articulation actuators 25050 may comprise anysuitable type of actuator such as, for example, flexible actuators,cables, flexible plastic plates, electroactive polymer actuators, and/orpiezoelectric bimorph actuators. The articulation support pivot 25040comprises a central cavity 25041 defined therethrough along alongitudinal axis LA. The primary drive shaft 25060 is configured to bereceived through the central cavity 25041. In at least one instance, theprimary drive shaft 25060 is flexible and is configured to bend, orflex, as the end effector 25030 is articulated relative to the shaft25010. In at least one instance, the primary drive shaft 25060 comprisesa flexible actuator. In at least one instance, the primary drive shaft25060 comprises a linearly translatable actuator. In at least oninstance, the primary drive shaft 25060 comprises rotary drive shaft. Inat least one instance, the primary drive shaft 25060 is flexible, isconfigured to be rotated to actuate a function of the end effector, andis configured to be translated to actuate a function of the end effector25020.

In at least one instance, the articulation support pivot comprises aprism structure, a spherical structure, and/or a rectangular structure.

To articulate the end effector 25020, the articulation actuators 25050are configured to be pushed and pulled in an antagonistic manner toarticulate the end effector 25030 relative to the shaft 25010. Forexample, a first actuator 25050 is configured to push a first side ofthe pin 25035 distally and a second actuator 25050 is configured to pulla second side of the pin 25035 proximally resulting in the rotation, orpivoting, of the articulation support pivot 25040 to articulate the endeffector 25020 in a first direction. Similarly, the first actuator 25050is configured to pull a first side of the pin 25035 proximally and thesecond actuator 25050 is configured to push a second side of the pin25035 distally resulting in the rotation, or pivoting, of thearticulation support pivot 25040 to articulate the end effector 25020 ina second direction opposite the first direction. In at least oneinstance, the primary drive shaft 25060 is bent, or pivoted, by thecentral cavity 25041 of the articulation support pivot 25040. As aresult, the primary drive shaft 25060 is configured to apply a pivotforce to the end effector 25020 to articulate the end effector 25020 inthe desired direction.

In at least one instance, a first articulation actuator 25050 isactively actuated and passive movement of a second articulation actuator25050 is dependent on the actuation of the first actuator 25050. In atleast one instance, only one articulation actuator 25050 is provided.

In at least one instance, the end effector 25020 is fixedly attached tothe articulation support pivot 25040 such that, as the articulationsupport pivot 25040 is rotated by the actuators 25050 and actuation pin25035, the articulation support pivot 25040 directly articulates the endeffector 25020 relative to the shaft 25010 by virtue of the fixedrelationship between the end effector 25020 and the articulation supportpivot 25040. In such an instance, the end effector 25020 may aid inflexing the primary drive shaft 25060 when the end effector 25020 isarticulated relative to the shaft 25010.

In at least one instance, the articulation support pivot 25040 defines acentral axis which is transverse to the longitudinal axis LA. In atleast one instance, the central axis is aligned with the pivot axis PA.In such an instance, the articulation support pivot 25040 rotates aboutthe pivot axis PA. In at least one instance, the articulation supportpivot 25040 is configured float laterally within the articulation joint25030. In such an instance, the axis about which the articulationsupport pivot 25040 rotates is not fixed relative to the end effector25020 and/or the shaft 25010 and, rather, moves laterally and/orlongitudinally relative to the end effector 25020 and/or the shaft25010. Such a configuration may provide a degree of flexibility withinthe articulation joint 25030 by removing a fixed pivot axis andproviding a semi-movable, or floatable, pivot axis.

As can be seen in FIG. 95, the articulation support pivot 25040 isconfigured to prevent the primary drive shaft 25060 from blowing out ofthe articulation joint 25030. The central cavity 25041 is configured torestrain the primary drive shaft 25060 within the articulation joint25030 as the end effector 25020 is articulated relative to the shaft25010. In at least one instance, the central cavity 25041 laterally andvertically supports the primary drive shaft 25060 through thearticulation joint 25030. In at least one instance, the articulation pin25035 provides a vertical support limit within the central cavity 25041.

In at least one instance, the articulation support pivot 25040 isassembled with the shaft 25010 and end effector 25020 and then theprimary drive shaft 25060 is inserted through the shaft 25010 andcentral cavity 25041 and into the end effector 25020. As a result, theprimary drive shaft 25060 itself is configured to prevent disassembly ofthe articulation joint 25030. In such an instance, the primary driveshaft 25060 itself holds one or more components of the articulationjoint 25030 together.

FIG. 97 depicts a surgical instrument assembly 25100 comprising many ofthe same components of the surgical instrument assembly 25000. Thesurgical instrument assembly 25100 comprises an articulation joint 25130comprising pivot pins 25131 which, unlike the surgical instrumentassembly 25100, pin the tabs 25012, 25023 to each other in addition toan articulation support pivot 25140. The articulation support pivot25140 may comprise the same and/or similar functions of the articulationsupport pivot 25040. The articulation support pivot 25140 comprises acentral cavity 25141 defined therethrough configured to receive aportion of the pin 25035 and the primary drive shaft 25060. Thearticulation joint 25130 may allow for a more distinct pivot bypivotally coupling the shaft 25010 to the articulation support pivot25140. In at least one instance, the end effector 25020 is fixedlyattached to the articulation support pivot 25140. In at least oneinstance, the end effector 25020 is pivotally attached to thearticulation support pivot 25140.

FIGS. 98 and 99 depict a surgical instrument assembly 25200 comprisingan end effector cartridge 25210, a firing member 25270, and a pluralityof flexible actuators 25220. The actuators 25220 comprise a plurality offirst actuators 25260 and a tube 25230. The tube 25230 may comprise alinearly translatable member configured to push and/or pull the firingmember 25270. In at least one instance, the tube 25230 acts only as ajacket to the actuator 25260 to allow a flex circuit 25240 to be wrappedtherearound. The surgical instrument assembly 25200 may comprise anarticulation joint through which the actuators 25220 are configured toextend. To this end, each actuator 25260 comprises a plurality of slits25261 configured to allow the actuators 25260 to flex, or bend, in afirst predetermined direction. The direction may correspond to the planeof articulation through which the end effector cartridge 25210 isarticulated. In at least one instance, each actuator 25260 comprisesadditional slits to allow the actuators 25260 to flex, or bend, in asecond predetermined direction in addition to the first predetermineddirection. Such a configuration would permit the use of the actuators25260 in a multi-axis articulation joint where the end effectorcartridge 25210 may be articulated in two distinct planes.

In at least one instance, the actuators 25260 are provided to articulatethe end effector cartridge 25210 by applying an articulation force tothe end effector cartridge 25210 through the firing member 25270. Theactuators 25260 may comprise an electroactive polymer and/or apiezoelectric bimorph configured to be energized to bend the actuators25260 into a desired bent configuration thereby causing the firingmember 25270 to which the actuators 25260 are attached to be moved in apredetermined direction. The actuators 25260 may also be advanced and/orrotated to effect one or more functions of the end effector cartridge25210 and/or end effector assembly comprising the end effector cartridge25210. For example, the actuators 25260 may be translated linearly topush the firing member 25270 distally and/or pull the firing member25270 proximally. In at least one instance, the actuators 25260 areconfigured to apply a rotational force to the firing member 25270 torotate the end effector cartridge 25210 relative to a shaft, forexample. In such an instance, the actuators 25260 may be actuated by aplanetary gear train, for example.

The slits 25260 may be formed in the actuators 25260 by way of anysuitable method. For example, the slits 25260 may be laser cut into theactuators 25260. The actuators 25260 may comprise of any suitablematerial and/or materials. For example, the actuators 25260 may compriseof a metal material and may be actuated by way of additionalarticulation bands, cables, and/or plates, for example. In at least oneinstance, the actuators 25260 comprise of an electroactive polymer andare configured to be energized and de-energized to bend and/oradvance/retract the actuators 25260.

Referring to FIG. 99, the flex circuit 25240 is attached to the firingmember 25270. The flex circuit 25240 is spiral wrapped, or coiled,around the tube 25230. In at least one instance, the coiling of the flexcircuit 25240 is configured to reduce capacitive coupling betweenvarious electrical components within a shaft, for example, byfluctuating the position of the flex circuit 25240 radially within theshaft.

In at least one instance, a control circuit is provided configured toactively mitigate capacitive coupling. An active inductor tunableimpedance system can be employed to monitor and mitigate capacitivecoupling within a surgical instrument assembly.

In at least one instance, a control circuit is configured to provideactive power management to electrical systems within a surgicalinstrument assembly. In such an instance, the control circuit isconfigured to detect capacitive coupling and actively adjust powerdelivery to reduce capacitive coupling between various electricalcomponents within the surgical instrument assembly.

In at least one instance, the flex circuit 25240 is wrapped around oneor more components of a shaft assembly such that in a neutral,un-rotated state, the flex circuit 25240 is in a minimum tension state.In such an instance, rotation of components which would cause the flexcircuit 25240 to rotate as well would cause the flex circuit 25240 toincrease in tension as the flex circuit 25240 twists. The flex circuit25240 can be configured to experience a maximum amount of twist-inducedtension before a control circuit stops rotation. In various instances,rotation in a first direction causes the flex circuit 25240 to tightenaround the shaft and rotation in the opposite direct causes the flexcircuit 25240 to loosen around the shaft. Such a configuration providesa magnitude of slack in the system prior to rotation of components ofthe shaft assembly. In at least one instance, the flex circuit 25240 ismanufactured in a coiled state. In at least one instance, the flexcircuit 25240 is manufactured in a non-coiled state and is assembledinto a neutral coiled state. Manufacturing the flex circuit 25240 in acoiled state can permit a thicker and/or wider flex circuit allowing formore signal transmission, for example. In at least one instance, thecoiled configuration of the flex circuit 25240 reduces capacitivecoupling between various signal transmission lines. In at least oneinstance, multiple ground layers or planes can be employed to surroundradio frequency signals and/or isolate any stray fields generated withinthe surgical instrument assembly.

FIGS. 100 and 101 depict an articulation system 25300 configured to beused with a surgical instrument assembly. The articulation system 25300comprises a shaft 25301, a biasing system 25310, and an articulationjoint 25330 comprising a plurality of electromagnets 25351 and aplurality of shaft segments 25360 configured to flex the articulationjoint 25330 and, thus, the shaft 25301, in an articulation plane. Thebiasing system 25310 is configured to bias the articulation system intoa non-articulated configuration.

The biasing system 25310 comprises a ratchet fork 25311, translatablerack members 25320 and slave cables 25340 attached to the translatablerack members 25320 and a proximal shaft segment 25360. The ratchet fork25311 comprises toothed prongs 25312 configured to flex inwardlyrelative to each other when a spring force of the ratchet fork 25311 isovercome owing to translation of one or more of the translatable rackmembers 25320. The toothed prongs 25312 are engaged with thetranslatable rack members 25320 such that, as the translatable rackmembers 25320 are pushed and/or pulled by the articulation joint 25350,the toothed prongs 25312 ride against teeth 25321 of the rack members25320 to provide a predetermined holding force to the rack members25320. The slave cables 25340 are attached to a distal end 25322 of eachrack member 25320 to translate the pushing and/or pulling force of thearticulation joint 25350 to the rack members 25320. The rack members25320 are attached to coil springs 25330 within a shaft assembly, forexample, such that as the articulation joint 25350 is articulated, thecoil springs 25330 are configured to push the rack members 25320 awayfrom the articulation joint 25350 as slack is introduced to acorresponding slave cable 25340 and pulled toward the articulation joint25350 as tension is applied to a corresponding slave cable 25340 by thearticulation joint 25350.

To articulate the shaft 25301 with the articulation joint 25350, theshaft segments 25360 are actuated in an accordion-like manner such thatthe electromagnets 25351 on one side of the articulation joint 25350 areenergized to attract the electromagnets 25351 to each other to contractthis side of the articulation joint 25350 and bend the shaft 25301 in afirst direction. In at least one instance, the electromagnets 25351 onthe other side of the articulation joint 25350 are de-energized, or notenergized, so as to allow the electromagnets to move away from eachother with the expansion of this other side of the articulation joint23350 owing to the direction of articulation caused by theelectromagnets 25351 which are energized. In at least one instance, theelectromagnets 25351 on the expansion side of the articulation joint25350 are energized in such a manner so as to repel the electromagnetson the expansion side of the articulation joint 25350 so as to aidexpansion of this side of the articulation joint 25350. Similarly, thearticulation joint 25350 may be bent in the other direction byenergizing the electromagnets in a manner opposite to the mannerdescribed above.

In at least one instance, each electromagnet 25351 is energizedsimultaneously to attract and repel the desired electromagnets 25351. Inat least one instance, the proximal electromagnet 25351 attached to theslave cable is energized to activate contraction and/or expansion of theentire chain of electromagnets distal to the proximal electromagnet25351 on one side of the articulation joint 25350. In at least oneinstance, both sides of the articulation joint 25350 are energizedcorresponding to the desired configuration (expanded or contracted).Cables 25352 may contract and expand according to the desiredconfiguration of the articulation joint 25350. In at least one instance,the cables 25352 are configured to bias the articulation joint 25350into a non-articulated configuration and are only compressed, orrelaxed, and/or stretched, or pulled into tension, upon energizing thecorresponding electromagnets 25351.

As discussed above, the biasing system 25310 is configured to bias thearticulation joint 25350 into a non-articulated configuration. In atleast one instance, the electromagnets 25351 are de-energized to allowthe biasing system 25310 to push and pull the articulation joint 25350into the non-articulated configuration. Referring to FIG. 101, once theelectromagnets 25351 are de-energized, the expanded coil spring 25330will pull its corresponding rack member 25320 toward the articulationjoint 25350 and the compressed coil spring 25330 will push itscorresponding rack member 25320 away from the articulation joint 25350.This pushing and pulling motion is applied to the slave cables 25340 andis configured to aid in moving the articulation joint 25350 into thenon-articulated configuration. In at least one instance, the teeth 25321and toothed prongs 25312 provide an audible sound to a user to indicatewhen the articulation joint 25350 has attained a fully non-articulationconfiguration.

In at least one instance, the power supplied to the electromagnets 25351can be varied to vary the articulation angle. For example, the more theuser wants an end effector to articulate, the power supplied to theelectromagnets 25351 can be progressively increased. In variousinstances, the cables 25352, 25340 comprise a conductive thread, forexample. The conductive thread can be monitored to detect thearticulation angle of the articulation joint by monitoring theresistance and/or conductivity of the thread in real time andcorrelating the monitored resistance and/or conductivity to thearticulation angle. In at least one instance, another set ofelectromagnets can be employed to allow for multi-axis articulationrather than single plane articulation.

FIGS. 102-104 depict a surgical instrument shaft assembly 25400configured for use with a surgical instrument such as those disclosedherein, for example. The shaft assembly 25400 comprises many of the samecomponents as the surgical instrument 1000. The shaft assembly 25400 maycomprise various drive members configured to articulate an end effector,rotate an end effector about a longitudinal axis, and/or fire an endeffector, for example. One or more of these drive members and/orcomponents within a shaft assembly may be subject to tension and/orcompression owing to the interaction of such drive members and/orcomponents with other drive members and/or components of a surgicalinstrument employing the shaft assembly 25400. In at least one instance,articulation of an end effector may cause a spine member to which anarticulation joint may be attached to stretch and/or compress uponarticulation of the end effector. This can be attributed to theattachment of the articulation joint to the spine member and thebending, or articulation, of the articulation joint. A core insert mayaid in strengthening the shaft assembly 25400 and/or help define amaximum system stretch of the shaft assembly 25400. The maximum systemstretch may be defined by a maximum load and/or a maximum stretchlength, for example. A core insert may prevent a member of a shaftassembly from prematurely failing. A core insert may also predefine themaximum system stretch of a shaft assembly so as to provide apredictable amount of stretch of one or more components of the shaftassembly and/or surgical instrument with which the shaft assembly isused.

The shaft assembly 25400 comprises a spine member 25410 and thearticulation joint 1400. The shaft assembly 25400 further comprises aproximally extending articulation joint portion 25430 comprising pinapertures 25431. The spine member 25410 comprises lateral slots 25411defined therein each configured to receive an articulation actuator. Thelateral slots 25411 can provide space between an outer shaft tube andthe spine member 25410 for the articulation actuators. The spine member25410 further comprises a primary slot 25412 configured to receive adrive member therethrough such as, for example, a primary drive shaft.

The shaft assembly 25400 further comprises a core insert 25420positioned with the spine member 25410. The core insert 25420 may beinsert molded and/or overmolded into the spine member 25410. Othersuitable manufacturing techniques are contemplated. The core insert25420 comprises a proximal core member 25421 comprising a distal hookend 25422. The distal hook end 25422 comprises a hook tab 25423extending from the proximal core member 25421. The core insert 25420further comprises a distal core member 25425 comprising a proximal hookend 25426. The proximal hook end 25426 comprises a hook tab 25427extending from the distal core member 25425. The hook tabs 25423, 25427face each other and cooperate to transmit stretching forces to eachother through the spine member 25410. The distal core member 25425further comprises a distal mounting portion 25428 extending distally outof the spine member 25410. The distal mounting portion 25428 comprisespin apertures 25429 defined therethrough. The shaft assembly 25400further comprises pins 2543 configured to pin the articulation jointportion 25430 to the distal mounting portion 25428 by way of apertures25429. The pinned engagement between the distal mounting portion 25428and the articulation joint portion 25430 may result in stretching, ortensile, forces being applied to the spine member 25410. The core insert25420 may help prevent the spine member 25410 from overstretching, forexample.

In at least one instance, the spine member 25410 comprises a firstmaterial and the core insert 25420 comprises a second material which isdifferent than the first material. The first material may comprise apolymer material and the second material may comprise a metallicmaterial. In at least one instance, the tensile strength of the secondmaterial is greater than the tensile strength of the first material.Such an arrangement can reduce weight, for example, of a surgicalinstrument which employs the shaft assembly 25400 while maintaining adesired system and/or shaft strength of the surgical instrument wheresignificant actuation forces are present. For example, as anarticulation actuator articulates the end effector and bends thearticulation joint 1400, stretching forces are applied to the spinemember 25410 and the core insert 25420 can serve to counter thesestretching forces. The material of the spine member 25410 positionedbetween the proximal core member 25421 and the distal core member 25425may reduce capacitive coupling and/or electrically isolate the proximalcore member 25421 from the distal core member 25425.

FIGS. 105-111 depict a plurality of articulation actuators configuredfor use with a surgical instrument. In at least one instance, theactuators discussed herein can be used for any suitable system requiringan actuator. FIG. 105 depicts a piezoelectric actuator 25600 comprisingan energizing circuit 25601 and a piezoelectric bimorph polymer 25610.The piezoelectric bimorph 25610 comprises an inner substrate layer 25611and outer piezoelectric layers 25612. The outer piezoelectric layers25612 are configured to be energized in such a manner so as to bend thebimorph 25610 in the desired direction. The actuator 25600 may be usedto articulate an end effector in an articulation plane. The substratemay comprise any suitable material. In at least one instance, thesubstrate comprises a material selected specifically for its rigidityand/or one or more other material properties, for example. In responseto an electrical field, the layers 25612 are configured to bend in adesired direction. In at least one instance, the layers 25611, 25612 areconfigured to splay relative to each other to compensate for radialdifferences in length upon bending within an articulation joint, forexample.

FIGS. 106 and 107 depict a piezoelectric bimorph actuator 25800configured to be used with a surgical instrument. In at least oneinstance, one or more of the actuator 25800 is configured to be used toarticulate an end effector. The actuator 25800 comprises an innersubstrate layer 25810 and piezoelectric outer layers 25820 configured tobe energized to bend the actuator 25800 in a desired direction. Thepolarization direction of the actuator 25800 can be pre-determined inorder to predictable bend the actuator 25800 in the desired direction.The actuator 25800 further comprises an input circuit 25801 configuredto actuate, or energize, the actuator 25800. In at least one instance,both piezoelectric layers comprise the same polarization direction. Inat least one instance, the same voltage signal is connected to theexposed outer surfaces of the piezoelectric layers. In at least oninstance, the substrate layer is grounded.

FIGS. 108 and 109 depicts a piezoelectric bimorph actuator 25900configured to be used with a surgical instrument. In at least oneinstance, one or more of the actuator 25900 is configured to be used toarticulate an end effector. The actuator 25900 comprises an inputcircuit 25910 and an actuation member 25920. The actuator 25900 isconfigured to be energized to bend a bendable length 25923 of theactuator 25900 a pre-determined displacement amount 25924 and direction.In at least one instance, a portion 25921 of the actuator 25900 isinactive. In at least one instance, the actuator 25900 is energized insuch a manner so as to bend the actuator 25900 in multiple directions tobe able to articulate an end effector in multiple directions.

Any suitable combination of the actuators described herein may becombined for use with a surgical instrument. For example, apiezoelectric bimorph actuator may be used in addition to anelectroactive polymer actuator. In at least one instance, the circuitemployed to energize various actuators disclosed herein can bespecifically tuned depending on the desired amount of flexion of theactuator and/or depending on the force required to actuate the functionof the end effector such as, for example, articulating an end effector.A chart 25650 is provided in FIG. 112 illustrating force generation vs.displacement of a piezoelectric actuator for use with a surgicalinstrument.

FIG. 111 depicts an electroactive polymer (EAP) actuator 25700configured to be used with a surgical instrument. In at least oneinstance, one or more of the actuator 25700 is configured to be used toarticulate an end effector. In at least one instance, the actuator 25700comprises a PVDF material (polyvinylidene fluoride). The actuator 25700comprises an input mounting circuit 25701 and a bendable member 25710.The bendable member 25710 comprises conductive layer 25722 (such asgold, for example), substrate layer 25721 (such as a PVDF layer, forexample), and polypyrrole layers 25723.

FIG. 112 depicts a shaft assembly 26000 configured to permit distal endeffector rotation within a surgical instrument. The shaft assembly 26000comprises an outer shaft 26010, a spine shaft 26020, a primary driveshaft 26030, and a distal head rotation drive shaft 26040. In at leaston instance, an end effector extends distally from the spine shaft 26020so that the end effector can be rotated by the spine shaft 26020. In atleast one instance, the spine shaft 26020 rotates independently of theouter shaft 26010. To rotate the spine shaft 26020, a driving engagementsurface 26050 is employed on the drive shaft 26040 and the innerdiameter of the spine shaft 26020 such that, as the drive shaft 26040 isrotated, the spine shaft 26020 is rotated. In at least one instance, anelastomeric, friction-inducing material is positioned around the driveshaft 26040 and positioned around the inner diameter of the spine shaft26020. In at least one instance, the spine shaft 26020 comprises splinegrooves and the drive shaft 26040 comprises teeth configured to engagethe spine grooves.

FIG. 113 depicts a shaft assembly 26100 configured to permit distal endeffector rotation within a surgical instrument. The shaft assembly 26100comprises an outer shaft 26110, a spine shaft 26120, a primary driveshaft 26140, and a drive system configured to rotate the spine shaft26120. In at least on instance, an end effector extends distally fromthe spine shaft 26120 so that the end effector can be rotated by thespine shaft 26120. In at least one instance, the spine shaft 26120rotates independently of the outer shaft 26110. To rotate the spineshaft 26120, the drive system comprises windings 26160 positioned aroundshaft 26150 and magnets 26130 positioned on an inner diameter of thespine shaft 26120. To rotate the spine shaft 26120 the windings 26160are energized to cause the magnets 26130 to move around the windings26160.

Various methods of locking rotational drive mechanisms are contemplated.For example, a system can rely on the resonant position holding torqueof the magnets 26130 to hold an end effector in position relative to ashaft. In at least one instance, a mechanical ratchet is employed tohold an end effector in position relative to a shaft. In at least oneinstance, a sprung clutch system is employed to require a motor toovercome the sprung clutch system to unlock end effector rotation.

In at least one instance, a ring gear is locked and unlocked to effectrotation of an end effector and to effector closure of a jaw relative toa fixed jaw. A planetary gear system can be employed to rotate differentelements of a shaft assembly to effect different functions of a surgicalinstrument assembly, for example.

FIG. 114 depicts a surgical instrument assembly 26200 comprising anouter shaft 26210, a proximal spine member 26220 positioned within theouter shaft 26210, and a distal spine member 26230 positioned within theouter shaft 26210 and configured to be rotated relative to the proximalspine member 26220 and, in at least one instance, the outer shaft 26210.Rotation of the distal spine member 26230 can be employed to rotate anend effector of a surgical instrument, for example. The surgicalinstrument assembly 26200 further comprises a drive shaft 26250configured to actuate a function of an end effector such as, forexample, firing staples and/or cutting tissue. The proximal spine member26220 comprises an annular flange portion 26221 and the distal spinemember 26230 comprises an annular flange portion 26231. The surgicalinstrument assembly 26200 further comprises one or more bearings 26245positioned between the annular flange portions 26221, 26231 such thatthe distal spine member 26230 can be rotated relative to the proximalspine member 26220.

The surgical instrument assembly 26200 further comprises a piezoelectricrotary motor. The piezoelectric rotary motor comprises a rotarypiezoelectric member 26240 fixed within the assembly 26200 and one ormore drive members 26241 configured to be actuated by the piezoelectricmember 26240. The surgical instrument assembly 26200 further comprisesan electrical trace 26260 configured to energize the piezoelectricmember 26240 to actuate the drive members 26241 in such a manner so asto apply a rotational torque to an inner drive surface 26233. As arotational torque is applied to the surface 26233, the distal spinemember 26230 is rotated to rotate an end effector, for example. In atleast one instance, the piezoelectric rotary motor is configured torotate the distal spine member 26230 in a clockwise direction and in acounter clockwise direction.

In various instances, shaft assemblies for use with surgical instrumentscan contain electrical traces and/or wires, for example, extendingthrough the shaft assembly from a proximal end to a distal end. Theelectrical traces may extend into an end effector attached to the distalend of the shaft assembly. In various instances, end effectors can beconfigured to rotate relative to the shaft. In various instances, endeffectors and the shaft assembly to which the end effector is attachedare configured to rotate relative to a proximal attachment interfaceand/or surgical instrument handle, for example. In such instances, therotation of the end effector and/or shaft assembly may cause electricaltraces to bind if the end effector and/or shaft assembly isover-rotated. Various ways of handling binding issues and/or contactissues with electrical traces positioned within shaft assemblies, whichmay be caused by rotation of an end effector and/or shaft assembly, arediscussed herein.

FIGS. 115-117 depict a limiter system 26300 configured to be used with asurgical instrument. The limiter system 26300 is configured to ceaseover-rotation of a drive train. In at least one instance, the limitersystem 26300 is automatic and does not require input from a user tocease over-rotation of a drive train. In at least one instance, thelimiter system 26300 requires input from a user. The limiter system26300 comprises an actuator 26310 comprising a solenoid, for example.The actuator 26310 comprises a shaft 26311 comprising a spring 26312 anda distal end 26313. The limiter system 26300 further comprises a gear26320. In at least one instance, the gear 26320 is part of a rotationaldrive train configured to actuate a function of an end effector. Forexample, the gear 26320 may be a part of a rotation drive trainconfigured to articulate an end effector in multiple directions, rotatean end effector about a longitudinal axis relative to a shaft, clampjaws of an end effector, and/or actuate a firing member of an endeffector.

As can be seen in FIG. 115, the gear 26320 is free to rotate because theactuator 26310 is not actuated. In at least one instance, the actuator26310 comprises a brake applied only in certain instances. The actuator26310 may only be activated, or triggered, when a user desires and/or asurgical robot is programmed to limit movement of the gear 26320. Forexample, as discussed above, the gear 26320 may comprise a component ofa rotational drive train configured to articulate an end effector. In atleast one instance, a user may activate an articulation drive trainthereby rotating the gear 26320. At any point, the user and/or asurgical robot may activate the actuator 26310 to stop articulation ofan end effector. FIG. 116 illustrates the actuator 26310 in an actuatedposition. The distal end 26313 comprises teeth 26314 configured toengage teeth 26321 of the gear 26320. However, at this point of rotationof the gear 26320, a braking force applied to the gear 26320 may not besufficient to cease rotation of the rotational drive train. Therotational drive train may be motorized and/or manual. Both can beceased using the limiter system 26300. In the position illustrated inFIG. 116, an audible ratcheting noise may be heard during rotation ofthe gear 26320. The spring 26312 is not fully compressed and will notapply a full braking force until the gear 26320 rotates to the positionillustrated in FIG. 117.

As can be seen in FIG. 117, the spring 26312 is fully compressed. Inthis position, the limiter system 26300 is configured to apply a maximumbraking force to a rotational drive train by engaging teeth 26323 of thegear 26320. Engagement between the teeth 26314 and the teeth 26323results in maximum braking force because the teeth 26323 comprise thegreatest radius of all of the teeth 26321 of the gear 26320 resulting inmaximum compression of the spring 26312. As the gear 26320 rotates fromthe position illustrated in FIG. 116 to the threshold positionillustrated in FIG. 117, an audible ratchet sound may increase in volumeand/or slow in frequency. This may indicate to a user and/or a controlcircuit that maximum braking force is being approached. In at least oneinstance, a control circuit is configured to detect the braking force asit is applied and is configured to automatically shut off a motoractuating the rotational drive train connected to the gear 26320.

In at least one instance, a limiter system is applied with asubstantially circular gear. In such an instance, an actuator may beprogressively actuated to advance a shaft progressively toward thecircular gear. In such an instance, a gradually increasing braking forcemay be applied to the gear. A control circuit may be configured tomonitor and actively adjust the braking force during use of the limitersystem. In at least one instance, a control circuit is configured toactuate the limiter system upon receiving input from one or more othercontrol systems and/or circuits indicating that one or more systems of asurgical instrument are to be shut down during operation.

In at least one instance, the limiter system 26300 is configured to beoverridden such that the gear 26320 may be rotated past the thresholdposition where the maximum braking force is applied. In at least oneinstance, the limiter system 26300 is configured to be automaticallyactivated upon an end of stroke for the function configured to beactuated by the rotational drive train. For example, as an end effectornears a maximum articulation angle, the limiter system 26300 may beactivated to apply a braking force thereto. The maximum articulationangle may be detected by an encoder on an articulation motor and/or asensor configured to detect directly the angle of articulation, forexample. In various instances, the limiter system 26300 may bedeactivated at any point a user and/or control circuit seeks to continueuninterrupted actuation of the rotational drive train. In at least oneinstance, audible ratcheting noises may be heard during rotational ofthe gear 26320 in both the counterclockwise direction and the clockwisedirection. If the actuator 26310 is actuated, an audible ratchet noiseis heard during rotation of the gear 26320 in either direction.

In at least one instance, the limiter system 26300 is configured toprovide only feedback of the threshold position being reached and is notconfigured to affect actuation of a rotational drive train for which itprovides feedback. In other words, the limiter system 26300 is only anindicator system and does not apply braking force to the function of theend effector being monitored.

In at least one instance, the limiter system 26300 provides a hard stopfor the function of the end effector. Once the threshold position isreached, a motor actuating the rotational drive system cannot overcomethe braking force applied thereto by the limiter system 26300.

In various instances, a control circuit configured to actuate thelimiter system 26300 comprises a counter rotation feature. Once the gear23620 reaches the threshold position, the control circuit may deactivatethe actuator 26310 and counter rotate the gear 26320 to a non-thresholdposition. Once the gear is 26320 is counter rotated, a user may regaincontrol of actuation of the rotational drive train. In at least oneinstance, a user may indicate the need for rotation of the rotationaldrive train beyond the threshold position. In such an instance, a usermay indicate that further rotational is desired. If the user indicatesthat further rotation is desired, the actuator 26310 may beautomatically deactivated and the rotational drive train is free torotate. In at least one instance, an absolute maximum rotation ispredetermined and cannot be surpassed. In such instance, a soft maximumthreshold may be predetermined allowing for some rotation passed thesoft maximum threshold but not beyond the absolute maximum rotation. Theabsolute maximum rotation may be defined by mechanical limits, forexample. The soft maximum threshold may be defined by an operationallimit which does not overstress any components, for example. In at leastone instance, the counter rotation feature is inhibited if jaws of anend effector sense a fully clamped state onto tissue. This can reducethe likelihood of accidentally opening the jaws and losing grip ontargeted tissue.

In at least one instance, braking force may be applied during severalrotations of the gear 26320. In such an instance, shaft rotation of therotational drive train may be tracked and the braking force applied bythe actuator 26310 is gradually increased as the gear 26320 rotates.

FIGS. 118-120 depict a rotary actuation system 26400 for use with asurgical instrument. The rotary actuation system comprises a mechanicallimiting system configured to prevent over-rotation, or actuation, of adrive system. The drive system may comprise an articulation drivesystem, an end effector rotation drive system, a jaw clamping and/orunclamping drive system, and/or a firing member drive system, forexample. The rotary actuation system 26400 comprises a motor 26410, avariable screw 26420 configured to be rotated by the motor 26410, and adrive nut 26430 configured to be linearly actuated by the screw 26420.The motor 26410 is configured to rotate the screw 26420 to actuate thedrive nut 26430 to actuate a function of a surgical instrument. Thedrive nut 26430 may be connected to a drive member configured to actuatea function of the surgical instrument. While any suitable function maybe actuated by the rotary actuation system, 26400, the rotary actuationsystem 26400 will be described in connection with an articulationsystem.

The screw 26420 comprises variable threads 26425, an inner section26421, and outer sections 26422 extending from the inner section 26421.The outer sections 26422 extend from the inner section 26421 graduallyincreasing a thread diameter of the threads 26425. In at least oneinstance, the thread diameter is varied along a screw axis defined bythe screw 26420. In at least one instance, the thread pitch is variedalong the screw axis defined by the screw 26420. In at least oneinstance, the thread diameter and the thread pitch are varied along thescrew axis. In at least one instance, a thread profile varies along thelength of the screw 26420. The varied thread profile is engaged with thedrive nut 26430 such that engagement of threads 26431 of the drive nut26430 and threads 26425 of the screw 26420 varies along the length ofthe screw 26420.

As the screw 26420 is rotated in a first direction, the drive nut 26430is configured to move in a corresponding first direction toward an outersection 26422 of the screw 26420. In at least one instance, movement ofthe drive nut 26430 toward an outer section 26422 corresponds toarticulation of an end effector. As the drive nut 26430 moves toward anouter section 26422, the threaded engagement between the nut 26430 andthe screw 26420 tightens owing to the varied thread profile. Thistightened engagement may cause increased load on the motor 26410. Thisincreased load can be monitored and detected. The detected load can beconveyed to a user and/or a control circuit to indicate to a user and/ora control circuit that the drive nut 26430 is nearing an end of strokeposition. In at least one instance, the motor 26410 is automaticallyslowed so as to slow the velocity of the drive nut 26430 near the end ofstroke position. In at least one instance, the motor 26410 isautomatically stopped upon detecting a threshold load. In at least oneinstance, the drive nut 26430 is automatically counter-rotated at leastpartially to decrease load on the motor 26410. In at least one instance,the outer ends 26422 provide a hard stop for an actuation stroke, suchas an articulation stroke, for example. In at least one instance, thedistance capable of being traveled by the drive nut 26430 corresponds tomechanical limitations by the corresponding actuation stroke such as,for example, maximum articulation angle.

In at least one instance, the threads 26431 comprise a non-variablethread profile while the threads 26425 comprise a variable threadprofile. In at least one instance, the threads 26431 also comprise avariable thread profile in addition to the threads 26425 of the screw26420. In at least one instance, the motor is configured to stall uponreaching a maximum rotational limit. In at least one instance, thethreaded engagement locks the nut 26430 into place upon reaching themaximum rotational limit. In at least one instance, a control circuit isconfigured to unlock the drive nut 26430 after reaching the maximumrotational limit by re-activating the motor 26410 to rotate the screw26420 in an opposite direction. In at least one instance, a largertorque may be required to unlock the drive nut 26430 from its maximumrotational limit position.

In at least one instance, feedback is provided as the maximum rotationallimit position is approached. For example, a control circuit may provideaudio and/or tactile feedback to a user, based on detected increasemotor load, as the drive nut 26430 approaches the maximum rotationallimit position. In at least one instance, a control circuit isconfigured to automatically adjust a control motion of actuation of themotor 26410 before, during, and/or after the drive nut 26430 reaches themaximum rotational limit position. The drive nut 26430 comprises amaximum rotational limit position on both outer sections 26422 of thescrew 26420. In at least one instance, a hard stop is provided toprevent irreversible binding of the nut 26430 and the screw 26420.

FIG. 121 depicts a segmented ring contact system 26500 for use with asurgical instrument assembly. The segmented ring contact system 26500may be employed between two or more components where electricaltransmission is desired between two or more of the components and one ormore of the components are configured to be rotated relative to one ormore other components. The segmented ring contact system 26500 isconfigured to provide redundant slip ring contacts within a shaftassembly for a surgical instrument, for example. The segmented ringcontact system 26500 comprises an outer segmented contact system 26510comprising a plurality of slip ring contact segments 26511 and an innersegmented contact system 26520 comprising a plurality of slip ringcontact segments 26521. As can be seen in FIG. 121, the slip ringcontact segments 26511 span gaps defined between the slip ring contactsegments 26521 and the slip ring contact segments 26521 span gapsdefined between the slip ring contact segments 26511. In at least oneinstance, the contact system 26500 may mitigate fluid shorting betweencontacts by providing multiple segments as opposed to a single slip ringcontact spanning a 360 degree length of a shaft, for example. If onesegment shorts out, another segment may provide a redundant means fortransmitting electrical signals.

In at least one instance, the segments 26511 and the segments 26521comprise different resistance values which can be detected and monitoredby a control circuit. Such an arrangement may indicate to a user and/orcontrol circuit, for example, which contacts are transmitting electricalsignals and which contacts are not transmitting electrical signals. Suchan arrangement may also allow a control circuit to determine rotationalshaft position.

FIGS. 122-127 depict various electrical transmission arrangements foruse with surgical instrument assemblies. In various instances, theelectrical transmission arrangements are configured to transmitelectrical signals between a first shaft and a second shaft. The firstshaft may be attached to a surgical robot and/or handle, for example,and the second shaft may comprise an end effector attached to a distalend thereof. In at least one instance, the electrical transmissionarrangements are configured to transmit electrical signals betweensensors, processors, and/or power sources, etc., of the first shaftassembly and the second shaft assembly. For example, the second shaftmay comprise a motor requiring power from the first shaft and/or acomponent upstream of the first shaft. Another example may includereceiving electrical signals from sensors positioned on the second shaftand/or end effector attached to the second shaft. Other systemsrequiring electrical transmission between the first shaft assembly andsecond shaft assembly are contemplated. The electrical transmissionarrangements disclosed herein can be configured to help prevent fluidshorting of the transmission arrangement, for example.

FIG. 122 depicts a surgical instrument assembly 26600 comprising a firstshaft 26610, a second shaft 26620, and an electrical transmissionarrangement 26640. The second shaft 26620 is rotatable relative to thefirst shaft 26610. In at least one instance, the first shaft 26610 isrotatable relative to the second shaft 26620. In at least one instance,the first shaft 26610 and the second shaft 26620 are rotatable relativeto each other. In at least one instance, the second shaft 26620comprises an end effector attached to a distal end thereof. Theelectrical transmission arrangement 26640 comprises electrical traces26611 and first contacts 26612 connected to the electrical traces 26611and positioned in an inner channel 26613 of the first shaft 26610. Thefirst contacts 26612 may comprise slip ring contacts, for example,extending around the entire inner diameter of the channel 26613. In atleast one instance, the first contacts 26612 comprise isolated contactsegments.

The electrical transmission arrangement 26640 further compriseselectrical traces 26621 and second contacts 26622 connected to theelectrical traces 26621 and positioned on an outer surface 26623 of thesecond shaft 26620. The second contacts 26622 may comprise slip ringcontacts, for example, extending around the entire outer diameter of theouter surface 26623 of the second shaft 26620. The second contacts 26622are configured to contact the first contacts 26612 to transmitelectrical signals therebetween. The second contacts 26622 areconfigured to maintain electrical contact with the first contacts 26612during rotation of the second shaft 26620 relative to the first shaft26610.

The surgical instrument assembly 26600 further comprises a channel 26630between the first shaft 26610 and the second shaft 26620. Fluid and/ordebris from a patient may flow into the channel 26630 during anoperation. The electrical transmission arrangement 26640 may helpprevent fluid and/or debris from flowing into the channel 26630. In atleast one instance, each contact 26612 is configured to supply and/orreceive different electrical signals for different electrical systems.In at least one instance, the contacts 26612, 26622 act as redundantcontacts.

FIG. 123 depicts a surgical instrument assembly 26700. The surgicalinstrument assembly 26700 comprises many of the same components of thesurgical instrument assembly 26600. The surgical instrument assembly26700 further comprises grommets 26710 positioned between each set ofcontacts 26612, 26622. The grommets 26710 may comprise of a rubbermaterial, for example. The grommets 26710 may help prevent fluid and/ordebris from flowing into the channel 26630.

FIG. 124 depicts a surgical instrument assembly 26800. The surgicalinstrument assembly 26800 comprises many of the same components of thesurgical instrument assembly 26600. The surgical instrument assembly26800 further comprises a grommet 26810 positioned away from thecontacts 26612, 26622. The grommet 26810 may help prevent fluid and/ordebris from flowing into the channel 26630 and toward the contacts26612, 26622 well away from the contacts 26612, 26622.

FIG. 125 depicts a surgical instrument assembly 26900 comprising a firstshaft 26910, a second shaft 26920, and an electrical transmissionarrangement 26940. The second shaft 26920 is rotatable relative to thefirst shaft 26910. In at least one instance, the first shaft 26910 isrotatable relative to the second shaft 26920. In at least one instance,the first shaft 26910 and the second shaft 26920 are rotatable relativeto each other. In at least one instance, the second shaft 26920comprises an end effector attached to a distal end thereof. Theelectrical transmission arrangement 26940 comprises electrical traces26911 and first contacts 26912A, 26912B connected to the electricaltraces 26911 and positioned in an inner channel 26913 of the first shaft26910. The first contacts 26912A, 26912B comprise isolated contactsegments. The contacts 26912A and the contacts 26912B are positionedopposite each other. This positioning may help prevent contacts 26912A,26912B from shorting out where fluid flows into an upper portion of thechannel 26930 and not a lower portion of the channel 26930.

The electrical transmission arrangement 26940 further compriseselectrical traces 26921 and second contacts 26922 connected to theelectrical traces 26921 and positioned on an outer surface 26923 of thesecond shaft 26920. The second contacts 26922 may comprise slip ringcontacts, for example, extending around the entire outer diameter of theouter surface 26923 of the second shaft 26920. The second contacts 26922are configured to contact the first contacts 26912A, 26912B to transmitelectrical signals therebetween. The second contacts 26922 areconfigured to maintain electrical contact with the first contacts26912A, 26912B during rotation of the second shaft 26920 relative to thefirst shaft 26910.

The surgical instrument assembly 26900 further comprises a channel 26930between the first shaft 26910 and the second shaft 26920. Fluid and/ordebris from a patient may flow into the channel 26930 during anoperation. The surgical instrument assembly 26900 further comprises agrommet 26931 configured to prevent fluid and/or debris from flowinginto the channel 26930.

FIG. 126 depicts a surgical instrument assembly 27000 comprising a firstshaft 27010, a second shaft 27020, and an electrical transmissionarrangement 27040. The second shaft 27020 is rotatable relative to thefirst shaft 27010. In at least one instance, the first shaft 27010 isrotatable relative to the second shaft 27020. In at least one instance,the first shaft 27010 and the second shaft 27020 are rotatable relativeto each other. In at least one instance, the second shaft 27020comprises an end effector attached to a distal end thereof. Theelectrical transmission arrangement 27040 comprises first electricalcontacts 27012 positioned within an annular slot 27011 defined in aninner diameter 27013 of the first shaft 27010. The electricaltransmission arrangement 27040 further comprises a second electricalcontact 27021, such as a slip ring contact, for example, positioned onan outer diameter 27022 of the shaft 27020. The first electricalcontacts 27012 are configured to maintain electrical contact as one ofthe shafts 27010, 27020 rotates relative to the other shaft 27010,27020. This contact arrangement may be referred to as a blade-styleelectrical contact arrangement. The second electrical contact 27021 isconfigured to be positioned at least partially within the annular slot27011 and may be referred to as a blade contact.

FIG. 127 depicts a surgical instrument assembly 27100 comprising a firstshaft 27110, a second shaft 27120, and an electrical transmissionarrangement 27140. The second shaft 27120 is rotatable relative to thefirst shaft 27110. In at least one instance, the first shaft 27110 isrotatable relative to the second shaft 27120. In at least one instance,the first shaft 27110 and the second shaft 27120 are rotatable relativeto each other. In at least one instance, the second shaft 27120comprises an end effector attached to a distal end thereof. Theelectrical transmission arrangement 27140 comprises first electricalcontacts 27113 positioned within annular slots 27112 defined in an innerdiameter 27111 of the first shaft 27110. The electrical transmissionarrangement 27140 further comprises second electrical contacts 27123positioned on blade wheels 27122 positioned on an outer diameter 27121of the shaft 27120. The first electrical contacts 27113 and secondelectrical contacts 27123 are configured to maintain electrical contactwith each other as one of the shafts 27110, 27120 rotates relative tothe other shaft 27110, 27120. The second electrical contacts 27123 areconfigured to be positioned at least partially within the annular slots27112. The blade wheels 27122 may help alleviate shorting of thecontacts 27123, 27113 by reducing the amount of exposed electricalcontact area exists within the electrical transmission arrangement27140.

FIGS. 128 and 129 depict inductive coil systems 28000, 28100 configuredto be used with a surgical instrument shaft assembly. Employing wiredelectrical traces between components configured to rotate relative toeach other such as, for example, a shaft assembly and an end effector.The inductive coil system 28000 comprises a first inductive coil 28010and a second inductive coil 28020. In at least one instance, the coil28010 comprises a transmitter coil and the coil 28020 comprises areceiver coil. The coils 28010, 28020 can be configured to transmitelectrical signals therebetween. In at least one instance, one of thecoils 28010, 28020 is positioned on a first component and the other ofthe coils 28010, 28020 is positioned on a second component configured torotate relative to the first component. In at least one instance, thedistance between the coils 28010 is less than the diameter of ach coil28010, 28020. The coil system 28100 comprises a first inductive coil28110 and a second inductive coil 28120. In at least one instance, thecoil 28110 comprises a transmitter coil and the coil 28120 comprises areceiver coil. The coil 28120 comprises a diameter which is less thanthe diameter of the coil 28110. In at least one instance, multiple coilsystems are employed with a surgical instrument assembly. For example,one or more coil systems can be utilized to transmit power and one ormore coil systems can be utilized to transmit data.

FIGS. 130 and 131 depict an electroactive polymer system 29000 for usewith a surgical instrument assembly. The system 29000 comprises anelectroactive polymer 29010 and an input circuit 29020. The system 29000can be used as an actuator for a surgical instrument assembly such as,for example, an articulation actuator. FIG. 131 illustrates the polymer29010 in an energized state. FIG. 130 illustrates the polymer 29010 inan un-energized state. In at least one instance, the polymer 29010 isemployed to rotate an end effector relative to a shaft. One end of thepolymer 29010 can be fixed to the shaft and the bendable end of thepolymer 29010 can be attached to the end effector. The polymer 29010 canbe configured to be twisted to cause rotation of an end effectorrelative to a shaft. The material selected for the system 29000 can beselected based on material limitations to predefine the amount ofdeflection required for the actuation.

End effectors of surgical instruments, including the components thereof,experience significant forces upon them during a single firing stroke.Such forces lead to equipment wear, which can ultimately lead toineffective tissue treatment, for example. In various instances, aclinician may want to use a new cutting element for each tissue cuttingstroke during a particular surgical procedure. The disposable endeffector assemblies described herein allow for a clinician tointerchangeably replace one or more components of the end effector froma particular surgical instrument.

FIGS. 132-138 depict an end effector 30000 for use with a surgicalinstrument. The end effector 30000 comprises a channel 30100, an anvil30200, and a cartridge 30300. In various instances, the channel 30100 isconfigured to fixedly, or non-replaceably, extend from an elongate shaft30500 of the surgical instrument. In other instances, the channel 30100is configured to be replaceably attached to the elongate shaft 30500. Inany event, the channel 30100 is configured to extend from the elongateshaft 30500 at a point distal to an articulation joint.

The anvil 30200 comprises an elongate slot 30280 defined therein. Theelongate slot 30280 extends from a proximal end 30202 toward a distalend 30204 of the anvil 30200 and is configured to receive a firstcamming member 30406 of a firing member 30400. An anvil projection 30210extends from a sidewall, or tissue stop, 30208 near the proximal end30202 of the anvil 30200. The anvil projection 30210 defines a pivotjoint about which the anvil 30200 is movable relative to the cartridge30300. The anvil projection 30210 comprises an aperture 30212 definedtherein. The aperture 30212 is sized to fittingly receive a cartridgeprojection 30310 therein. The cartridge projection 30310 extendingthrough at least a portion of the anvil projection 30210 establishes acoupling and/or attachment between the cartridge 30300 and the anvil30200 while also maintaining component alignment. In various instances,the cartridge 30300 and the anvil 30200 are coupled together during themanufacturing and/or packaging process. In other instances, a clinicianis able to selectively choose between various combinations of compatibleanvils and cartridges prior to use of the assembly with a surgicalinstrument.

As shown in FIG. 134, the cartridge 30300 comprises a cartridge pivotmember 30350 from which the cartridge projection 30310 extends. Thecartridge pivot member 30350 serves as an electronics interface to thechannel 30100 when the cartridge 30300 is seated therein. In variousinstances, the cartridge pivot member 30350 is comprised of metal whilethe remaining cartridge body is comprised of a plastic material, forexample. In various instances, the cartridge 30300 comprises a pluralityof staple cavities 30360 defined therein, at least one electrode 30370,and a longitudinal slot 30380 extending from a proximal end towards adistal end. The at least one electrode 30370 is similar to longitudinalelectrode 1925, whose functionality is described in greater detail withrespect to FIGS. 1 and 6. In various instances, the at least oneelectrode 30370 is an RF electrode. The longitudinal slot 30380 isconfigured to receive a portion of the firing member 30400 as the firingmember 30400 translates through the end effector 30000 during a firingstroke. Staples are removably positioned in the staple cavities 30360.In other instances, the cartridge may only comprise staple cavities ormay only comprise an RF electrode. In any event, the cartridge 30300 isconfigured to be removably seated in the channel 30100. The cartridge30300 further comprises a lateral projection 30320 extending from acartridge sidewall.

Sidewalls of the channel 30100 comprise a notch 30120 defined in adistal portion thereof. The notch 30120 is sized to receive the lateralprojection 30320 of the cartridge 30300 therein as the cartridge 30300is seated in the channel 30100. In addition to securing the cartridge30300 to the channel 30100, the notch 30120 ensures that the assemblycomprised of the cartridge 30300 and the anvil 30200 is appropriatelyaligned with the channel 30100, and thus the elongate shaft 30500. Theact of installing the assembly comprised of the cartridge 30300 and theanvil 30200 into the channel 30100 also serves to connect variouselectrical components 30700 throughout the end effector 30000.

The sidewalls of the channel 30100 further comprise a pivot notch 30110defined therein. The pivot notch 30110 comprises a size and/or geometryconfigured to receive the anvil projection 30210 therein. As shown inFIGS. 132 and 133, the pivot notch 30110 is angled in an effort toprevent the assembly of the anvil 30200 and cartridge 30300 fromunwantedly detaching from the channel 30100, for example. When thedisposable assembly comprised of the anvil 30200 and the cartridge 30300are fully seated in the channel 30100, the anvil 30200 is notphysically, or directly, attached to the elongate shaft 30500. Statedanother way, the anvil 30200 is only physically, or directly, coupled tothe cartridge 30300 and the channel 30100.

As shown in FIG. 133, the channel 30100 further comprises a drive screw30150 positioned therein prior to the attachment of the staple cartridge30300 thereto. A distal end 30104 of the channel base 30108 comprises amounting interface 30130 for securing a distal end 30154 of the drivescrew 30150. A firing member 30400 is mounted on the drive screw 30150prior to the staple cartridge 30300 being seated in the channel 30100.

FIGS. 135-138 show the progression of seating the disposable assemblycomprising the anvil 30200 and the cartridge 30300 into the channel30100. As shown in FIG. 135, the anvil 30200 is coupled to the cartridge30300 as an assembly, and the channel 30100 is attached to the elongateshaft 30500 at a point distal to any articulation joint; however, theanvil 30200 and the cartridge 30300 are completely detached from thechannel 30100.

A first stage of seating the disposable assembly in the channel 30100 isshown in FIG. 136. As the disposable assembly is brought toward thechannel 30100, the proximal end 30202 of the anvil 30200 is tiltedtoward the base 30106 of the channel 30100, while the distal end 30204of the anvil 30200, and thus the disposable assembly, is tilted slightlyaway from the base 30106 of the channel 30100. Initial contact is madebetween the anvil projection 30210 and the pivot notch 30110 of thechannel 30100. Notably, the lateral projection 30320 is not yet alignedwith the notch 30120 of the channel 30100. In the first stage, the firstcamming member 30406 of the firing member 30400 is slid into a proximalportion of the elongate slot 30280 of the anvil 30200. Additionally, thedrive screw 30150 is not yet aligned with the longitudinal slot 30380 ofthe cartridge 30300. Such misalignment prevents the cartridge 30300 frombeing fully seated in the channel 30100.

A second stage of seating the disposable assembly in the channel 30100is shown in FIG. 137. As the anvil projection 30210 is slid completelyinto the pivot notch 30110 of the channel 30100, the disposable assemblymoves distally within the channel 30100, disengaging the first cammingmember 30406 of the firing member 30400 from the elongate slot 30280 ofthe anvil 30200. Such distal movement brings the lateral projection30320 in line with the notch 30120; however, the distal end of thecartridge 30300 remains elevated.

FIG. 138 depicts the disposable assembly fully seated in the channel30100. At such a point, the anvil projection 30210 is completely housedwithin the pivot notch 30110, the lateral projection 30320 is completelyhoused within the notch 30120, and the drive screw 30150 is completelyhoused within the longitudinal slot 30380 of the cartridge 30300. Suchalignment between the cartridge 30300 and the drive screw 30150 allowsfor the cartridge 30300 and the anvil 30200 disposable assembly to befully seated in the channel 30100. When the disposable assembly is fullyseated in the channel 30100, all electrical components, such as flexcircuits and/or sensor arrays, 30700 are coupled and in communicationwith the channel 30100 and/or the elongate shaft 30500 of the surgicalinstrument.

In various instances, the disposable assembly comprised of the cartridge30300, the anvil 30200, and various flex circuits 30700 is only intendedfor a single use. Stated another way, upon completion of a single firingstroke, the cartridge 30300, the anvil 30200, and the associated flexcircuits 30700 are removed, or unseated, from the channel 30100 leavingbehind the drive screw 30150 and the firing member 30400. In suchinstances, the drive screw 30150 and the firing member 30400 areintended to be used for more than one firing stroke. The channel 30100,including the drive screw 30150 and the firing member 30400, can bedetached from the elongate shaft 30500 and disposed of after being usedfor a pre-determined number of firing strokes, or upon becomingdefective, for example.

FIGS. 139-146 depict an end effector 31000 for use with a surgicalinstrument. Similar to the end effector 30000, the end effector 31000comprises a channel 31100, an anvil 31200, and a cartridge 31300. Theend effector 31000 is detachably, or replaceably, coupled to an elongateshaft 31500 of the surgical instrument at a point distal to anyarticulation joint. Stated another way, the end effector 31000 isconfigured to be disposed of after a pre-determined number of firingstrokes, such as one, for example. As shown in FIG. 146, the endeffector 31000 comprises a firing member 31400 as part of a disposableportion. In such instances, a new cutting element, for example, ispresent every time the end effector 31000 is replaced.

Similar to the cartridge 30300, the cartridge 31300 can comprise staplecavities, an RF electrode, and/or any suitable combination of features.The cartridge 31300 further comprises a lateral projection 31320extending from a cartridge sidewall. Sidewalls of the channel 31100comprise a notch 31120 defined in a distal portion thereof. The notch31120 is sized to receive the lateral projection 31320 of the cartridge31300 therein as the cartridge 31300 is seated in the channel 31100. Inaddition to securing the cartridge 31300 to the channel 31100, the notch31120 ensures that the cartridge 31300 is appropriately aligned with thechannel 31100. While the end effector 31000 is shown as being detachablycoupled to the elongate shaft 31500, the cartridge 31300 is alsoreplaceably seated in the channel 31100. As shown in FIG. 141, the anvil31200 comprises a flex circuit 31700 having traces arranged on asidewall, or tissue stop, of the anvil 31200 near a proximal end. Whenpivotally coupled to the channel 31100, the anvil traces are inelectrical contact with a flex circuit comprising traces 31151positioned on the channel.

A coupling member 31800 serves as an attachment interface betweenelongate shaft 31500 and the assembly formed of the channel 31100, theanvil 31200, and the cartridge 31300. A distal end of the elongate shaft31500 is shown in FIG. 140 prior to attachment of the coupling member31800 and end effector 31000 thereto. The distal end of the elongateshaft 31500 comprises various attachment members configured to secureand/or align the elongate shaft 31500 with the end effector 31000 inaddition to coupling the drive systems and/or electrical connections. Aproximal end of the coupling member 31800 is configured to interfacewith the distal end of the elongate shaft 31500. The proximal end of thecoupling member 31800 is shown in FIG. 142 prior to attachment to theelongate shaft 31500. The coupling member 31800 comprises complementaryfeatures to those of the elongate shaft 31500.

More specifically, the distal end of the elongate shaft 31500 comprisesa drive shaft 31600 extending therefrom. A channel 31860 is defined inthe coupling member 31800 that is sized to closely receive the driveshaft 31600 therein. The drive shaft 31600 extends through the channel31860 for ultimate attachment to a drive screw within the channel 31100and/or cartridge 31300 of the end effector 31000. As described ingreater detail throughout, a flex circuit, or electrical traces, 31550extend through the elongate shaft 31500 to a control circuit and/orprocessor within a proximal housing, for example. The flex circuit 31550of the elongate shaft 31500 is electrically coupled to a flex circuit31850 on the coupling member 31800. The flex circuit 31850 on thecoupling member 31800 is in electrical communication with the flexcircuit 31700 on the anvil 31200. Sensed parameters and/or componentstatuses can be communicated through the chain of flex circuits when theend effector 31000 is coupled to the elongate shaft 31500 via thecoupling member 31800.

The distal end of the elongate shaft 31500 further comprises anattachment member 31570 and an alignment pin 31580. The proximal end ofthe coupling member 31800 comprises an attachment groove 31870 sized toreceive the attachment member 31570 and an alignment groove 31880 sizedto receive the alignment pin 31580 when the end effector 31000 isattached to the elongate shaft 31500.

FIGS. 142-146 show the progression of attaching the disposable endeffector 31000 comprising the channel 31100, the anvil 31200, and thecartridge 31300 to the elongate shaft 31500. As shown in FIG. 142, thecartridge 31300 is fully seated in the channel 31100 and the anvil 30200is coupled thereto as an assembly. The end effector 31000 furthercomprises a coupling member 31800 for replaceably attaching the endeffector 31000 to the elongate shaft 31500 at a point distal to anyarticulation joint.

A first stage of attaching the disposable end effector assembly to theelongate shaft 31500 is shown in FIG. 143. As the coupling member 31800of the disposable assembly is brought toward the distal end of theelongate shaft 31500, initial contact is made between the attachmentmember 31570 extending from the elongate shaft 31500 and the attachmentgroove 31870 defined in the coupling member 31800. The drive shaft 31600is initially received within the channel 31860; however, the drive shaft31600 has not yet been coupled to a drive screw 31150. Notably, the flexcircuits 31850, 31750 are misaligned and out of physical contact in thefirst stage of attachment. Furthermore, the alignment pin 31580 is outof alignment with the alignment groove 31880 defined in the couplingmember 31800. Such misalignment prevents the disposable end effector31000 from being fully attached to the elongate shaft 31500.

A second stage of attaching the disposable end effector assembly to theelongate shaft 31500 is shown in FIG. 144. Contact between the proximalend of the coupling member 31800 and the alignment pin 31580 causes thealignment pin 31580 to be spring biased away from the coupling member31800 thereby allowing the disposable end effector 31000 and/or theelongate shaft 31500 to be freely rotated with respect to one another.Such rotation of the disposable end effector 31000 and/or the elongateshaft 31500 with respect to one another begins to rotatably attach thedrive shaft 31600 to the drive screw 31150; however, the flex circuits31850, 31550 are still out of physical contact and the alignment pin31580 has not yet been received by the alignment groove 31880 defined inthe coupling member 31800.

FIG. 145 depicts the disposable end effector assembly fully attached tothe elongate shaft 31500. At such a point, the alignment pin 31580 isbiased back toward the coupling member 31800 and is completely housedwithin the alignment groove 31880 defined within the coupling member31800. As shown in FIG. 146, complete operational coupling between thedrive shaft 31600 and the drive screw 31150 is achieved when thedisposable end effector assembly is fully attached to the elongate shaft31500. Furthermore, such alignment between the end effector 31000 andthe elongate shaft 31500 also ensures alignment and/or physical contactbetween the flex circuits 31850, 31550. When the disposable assembly isfully attached to the elongate shaft 31500, all electrical components,including flex circuits 30700 and/or sensor arrays positioned in theanvil 31200, cartridge 31300, and/or channel 31100 are coupled and incommunication with the elongate shaft 31500 of the surgical instrument.

In various instances, the disposable assembly comprised of the channel31100, the anvil 31200, the cartridge 31300, and various flex circuits31700 is only intended for a single use. Stated another way, uponcompletion of a single firing stroke, the end effector 31000, includingthe firing member 31400, and the associated flex circuits 31700 areremoved, or detached, from the elongate shaft 31500. Detachment canoccur after being used for a pre-determined number of firing strokes, orupon becoming defective, for example.

FIGS. 147 and 148 depict an end effector 32050 configured to bereplaceably attached to an elongate shaft 32500 of a surgicalinstrument. The end effector 32050 has a channel 32100, an anvil 32200,and a cartridge 32300. The cartridge 32300 is sized and/or configured tobe seated in the channel 32100. As described in greater detail withrespect to FIGS. 132-138, in various instances, the anvil 32200 and thecartridge 32300 are pivotally attached to one another about a pivotjoint 32210 prior to the cartridge 32300 being seated in the channel32100. In various instances, the anvil 32200 is configured to bepivotally attached to the channel 32100.

The channel 32100 comprises a proximal end 32052 and a distal end 32054.The proximal end 32052 of the channel 32100 comprises an attachmentmember 32056 extending proximally therefrom. The attachment member 32056is configured to releasably secure the end effector 32050 to an elongateshaft 32500 of the surgical instrument. While FIGS. 147 and 148 show theattachment member 32056 extending from the proximal end of the channel32100, the attachment member 32056 can extend from any suitablecomponent of the end effector 32050 such as the anvil 32200 or thecartridge 32300. In various instances, the attachment member 32056 isintegrally formed with the particular end effector component. In otherinstances, the end effector 32050 comprises an adapter attached to aproximal end of the end effector 32050. The adapter comprises theattachment member 32056 for securement of the end effector 32050 to theelongate shaft 32500.

A distal end of the elongate shaft 32500 comprises a securement door32510 movable between an open position and a closed position about apivot joint 32520. In various instances, the securement door 32510remains in the closed position until motivated into the open position.In such instances, the securement door 32510 is in the closed positionprior to attachment of an end effector 32050 thereto. The attachmentmember 32056 of the end effector 32050 can be used to bias thesecurement door 32510 into an open position. Alternatively, a cliniciancan motivate the securement door 32510 into the open position prior toattaching the end effector 32050 to the elongate shaft 32500. Thesecurement door 32510 can remain biased open in its open position untilan attachment member 32056 is appropriately positioned in the grooveand/or until the securement door 32510 is motivated into the closedposition.

In its open position, as shown in FIG. 147, the securement door 32510exposes a groove sized to receive the attachment member 32056 of the endeffector 32050 therein. Stated another way, when the securement door32510 is in the open position, a path is cleared for the attachmentmember 32056 to be positioned in the groove of the elongate shaft 32500.In various instances, the securement door 32510 can return to its closedposition when the attachment member 32056 is appropriately positioned inthe groove. In other instances, a clinician can motivate the securementdoor 32510 into the closed position. A sensor assembly can communicate astatus and/or position of the securement door 32510 to a processor. Insuch instances, the processor is configured to prevent use of thesurgical instrument while the securement door 32510 is in the openposition and/or defective.

The securement door 32510 has a distal end 32512 with a latch geometry.The attachment member 32056 comprises a proximal portion having a firstthickness and a distal portion having a second thickness. As shown inFIGS. 147 and 148, the first thickness is greater than the secondthickness. Such a geometry allows for the distal end 32512 of thesecurement door 32510 and/or the corresponding geometry of the groove toretain the attachment member 32056 therein. The geometry of the grooveprevents unwanted movement of the attachment member 32056 and/ormaintains alignment of the end effector 32050 and the elongate shaft32500, for example. In various instances, the attachment member 32056has a press-fit relationship with the groove; however, any suitablemechanism that maintains attachment and/or alignment between thecomponents is envisioned.

In various instances, a geometry and/or size of the attachment member32056 does not correspond to a geometry and/or size of the channel. Sucha mismatch in geometry and/or size prevents the end effector 32050 frombeing fully attached to and/or aligned with the elongate shaft 32500. Insuch instances, the firing drive(s) and/or electronic components are notconnected and the surgical instrument is non-operable. Should theattachment member 32056 be too large to fit within the groove, thesecurement door 32510 will be unable to reach its fully closed position,and an alert can be sent to a processor as described in greater detailherein. Similarly, a sensor assembly can detect an absence of contactbetween the attachment member 32056 and the barriers of the groove,suggestive of an attachment member 32056 comprising an inappropriatelysmall geometry for use with the surgical instrument. In such instances,the processor prevents the use of the surgical instrument.

The end effector 32050 further comprises a firing member 32400 mountedon a drive screw. A drive shaft 32600, similar to drive shaft 1660,extends through the elongate shaft 32500 and is coupled with the drivescrew of the end effector 32050 upon attachment of the end effector32050 to the elongate shaft 32500. Subsequent rotation of the drivescrew causes the firing member 32400 to translate through the endeffector 32050. The firing member 32400 comprises a first camming member32406 configured to engage the anvil 32200 as the firing member 32400translates through the end effector 32050, a second camming member 32408configured to engage the channel 32100 as the firing member 32400translates through the end effector 32050, and a cutting element 32410.As discussed in greater detail throughout, the firing member 32400 canbe mounted on a drive screw in the channel 32100 prior to attachment ofthe cartridge 32300 thereto or the firing member 32400 can be anintegral component with the cartridge 32300 prior to seating thecartridge 32300 in the channel 32100.

In any event, as shown in FIGS. 149 and 150, the firing member 32400comprises a projection 32420 having a keyed profile 32425 on a proximalend 32402 of the firing member 32400. The keyed profile 32425 isconfigured to be received within a corresponding groove 32610 formed ina distal end 32604 of the drive shaft 32600. As the end effector 32050is brought into alignment with the elongate shaft 32500, the keyedprofile 32425 of the projection 32420 is configured to be positioned inthe groove 32610. In various instances, the groove 32610 comprises alarger geometry than the keyed profile 32425 of the firing member 32400.However, the groove 32610 comprises a notch configured to catch thekeyed profile 32425 of the firing member 32400 and prevent the firingmember 32400 from translating distally out of connection with the driveshaft 32600. In various instances, the width of the groove 32610 issimilar to the width of the keyed profile 32425. Such a similarity inwidth allows for the keyed profile 32425 to comfortably fit into thegroove 32610 yet prevents unwanted proximal translation and/or rotationof the keyed profile 32425 within the groove 32610.

FIGS. 151 and 152 depict a reinforce anvil 33200 having an anvil 33250and an anvil plate 33260 circumferentially welded thereto. The anvil33250 comprises a projection 33210 for pivotal attachment to a cartridgeand/or a channel as described in greater detail herein. The anvil plate33260 bridges, or crosses, at least partially overtop of the pivot jointformed about the projection 33210. While the anvil plate 33260 isdescribed as being welded to the anvil 33200, any attachment method thatprovides suitable reinforcement to the anvil 33200 is envisioned. Thereinforced anvil 33200 provides increased strength to allow thereinforced anvil 33200 to withstand greater loads experienced duringclosure and/or firing strokes, especially over the pivotal attachmentjoint, for example.

As shown in FIG. 153, the reinforced anvil 33200 is pivotally attachedto a channel 33100 of an end effector 33000. The end effector 33000further comprises a cartridge 33300 seated in the channel 33100. Afiring member 33400 is positioned in the end effector 33000. The firingmember 33400 has a first camming member 33406 configured to engage anelongate slot 33220 of the anvil 33200 as the firing member 33400translates through the end effector 33000, a second camming member 33408configured to engage the channel 33100 as the firing member 33400translates through the end effector 33000, and a cutting element 33410.

The anvil plate 33260 comprises a first thickness A at a proximal end33262 and a second thickness a at a distal end 33264 thereof. In variousinstances, the first thickness A can range from 0.03 inches to 0.035inches, while the second thickness a can range from 0.01 inches to 0.015inches, for example. The first thickness A is larger than the secondthickness to provide an increased strength to the reinforced anvil 33200at the pivot joint formed about projection 33210, for example. Thereinforced anvil 33200 comprises a tissue-compressing surface. Thetissue-compressing surface has a curved topography, wherein the distancebetween the tissue-compressing surface and a tissue-supporting surfaceof the cartridge 33300 is smaller at a point closer to the pivot jointabout projection 33210. The curved topography prevents patient tissuefrom becoming trapped and/or pinched between the reinforced anvil 33200and the cartridge 33300 and/or the channel 33100, for example. Weldingthe anvil plate 33260 to the anvil 33250 allows for the reinforced anvil33200 to have an increased stiffness along the elongate slot 33220 ofthe anvil 33250 where substantial loads are applied by the firing member33400 in addition to the portion of the anvil 33250 surrounding theprojection 33210. Such an increase in stiffness improves tissuemanipulation and/or tissue clamping loads, for example.

FIG. 154 depicts an assembly comprised of a cartridge 34300 and achannel 34100. Such an assembly is configured to be replaceably coupledto an elongate shaft of a surgical instrument distal to an articulationjoint. In an effort to, for example, form a more rigid, disposableassembly, the assembly comprises an interlock system molded into thewalls of the channel 34100 and the cartridge 34300. The channel 34100comprises a base 34120 with an elongate slot 34110 defined therein forreceiving a portion of a firing member. The channel 34100 furthercomprises a pair of sidewalls 34130 extending from the base 34120. Anotch 34150 is defined in the sidewall 34130. As described in greaterdetail throughout, the cartridge 34300 is configured to be seated in thechannel 34100. The cartridge 34300 comprises a plurality of staplesremovably positioned within staple cavities, a longitudinal slot 34310extending from a proximal end toward a distal end of the cartridge34300, and a wedge sled 34600 configured to motivate the staples out ofthe respective staple cavities as the wedge sled 34600 translatesthrough the longitudinal slot 34310 during a firing stroke. Thecartridge 34300 further comprises a projection 34350 configured to bereceived within the notch 34150 when the cartridge 34300 is fully seatedin the channel 34100. A portion of a cartridge deck 34320 is configuredto rest upon a top portion 34140 of the channel sidewall 34130. Whilethe cartridge is described as having a projection and the channel isdescribed as having a notch, any suitable attachment mechanism orcombination of attachment mechanisms are envisioned to releasably securethe cartridge in the channel.

When the wedge sled 34600 is inserted into a proximal end of thecartridge 34300, the cartridge 34300 is pushed laterally, causing theprojection 34350 to nest within the notch 34150 of the channel 34100.Such an interlocking engagement enables the channel 34100 to provideadditional support to the cartridge deck 34320 and cartridge body thanfrom the base 34120 alone. Lateral motivation of the cartridge 34300diverts a tissue compression load from the cartridge deck 34320 into thesidewalls 34130 of the channel 34100 rather than allowing the tissuecompression load to be transmitted through the body of the cartridgealone.

Similar to the reinforced anvil 33200 shown in FIGS. 151-154, thechannel 34100 can be reinforced with a channel cap that bridges, orcrosses, at least partially over top of the elongate slot 34110. Thebase 34120 of the channel 34100 can range in thickness from 0.025 inchesto 0.035 inches, for example. A channel cap with a thickness of between0.01 inches and 0.015 inches, for example, can be welded to the base34120 of the channel 34100. The addition of the channel cap allows for amore robust cartridge and channel assembly.

Various aspects of the present disclosure are directed to methods,devices, and systems for sealing tissue using a combination of energyand stapling modalities. The hybrid approach improves upon, andcompensates for, the shortcomings of using the energy and staplingmodalities separately.

Referring now to FIG. 155, a surgical instrument 60000 is configured toseal tissue using a combination of energy and stapling modalities orphases. In certain instances, is also configured to cut the tissue. Thesurgical instrument 60000 is similar in many respects to other surgicalinstruments (e.g. surgical instrument 1000) described elsewhere herein,which are not repeated herein in the same level of detail for brevity.The surgical instrument 60000 includes an end effector 60002, anarticulation assembly 60008, a shaft assembly 60004, and a housingassembly 60006. In the illustrated example, the articulation assembly60008 permits the end effector 60002 to be articulated about a centrallongitudinal axis 60005 relative to the shaft assembly 60006.

In the illustrated example, the housing assembly 60006 is in the form ofa handle that includes a trigger 60010 movable relative to a handleportion 60012 to effect a motion at the end effector 60002. In otherexamples, however, the housing assembly 60006 can be incorporated into arobotic system. It will be understood that the various unique and novelarrangements of the various forms of the surgical instruments disclosedherein may also be effectively employed in connection withrobotically-controlled surgical systems. Thus, the term “housing” mayalso encompass a housing or similar portion of a robotic system thathouses or otherwise operably supports at least one drive system that isconfigured to generate and apply at least one control motion which couldbe used to actuate shaft assemblies disclosed herein and theirrespective equivalents. For example, the surgical instruments disclosedherein may be employed with various robotic systems, instruments,components and methods disclosed in U.S. patent application Ser. No.13/118,241, entitled SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLEDEPLOYMENT ARRANGEMENTS, now U.S. Patent Application Publication No. US2012/0298719. U.S. patent application Ser. No. 13/118,241, entitledSURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENTARRANGEMENTS, now U.S. Patent Application Publication No. US2012/0298719, is incorporated by reference herein in its entirety. Incertain aspects, the housing assembly 60006 is detachably couplable toan interchangeable assembly that includes the shaft assembly 60004, thearticulation assembly 60008, and the end effector 60002, for example.

Referring to FIG. 156-162, the end effector 60002 extends distally fromthe articulation assembly 60008, and includes an anvil 60020 and acartridge support channel 60040 configured to accommodate a cartridge60030. In the illustrated example, the anvil 60020 defines a first jaw,while the support channel 60040 and the cartridge 60030 define a secondjaw. At least one of the first jaw and the second jaw is movablerelative to the other jaw to grasp tissue therebetween. In theillustrated example, rotation of a drive member, which can be in theform of a drive screw, causes a firing member, which can be in the formof an I-beam 764, to move distally to pivot the anvil 60020 toward thecartridge 60030 in a closure motion to grasp tissue therebetween.

Further rotation of the drive member causes of the I-beam 764 to engageand motivate a sled, in a firing motion, to deploy staples 60033 (FIG.159) from the anvil 60020 into the grasped tissue. The staples aregenerally stored in rows of staple cavities 60031, 60032 extendinglongitudinally on opposite sides of a longitudinal slot 60035 defined ina cartridge body 60039 of the cartridge 60030. The sled is configured todeploy the staples 60033 by pushing upward staple drivers in the rows ofstaple cavities 60031, 60032. Upward motion of the staple driversdeploys the staples 60033 from the rows of staple cavities 60031, 60032into the tissue. Staple legs of the staples 60033 are then deformed bycorresponding rows of anvil pockets 60021, 60022 (FIG. 162) on oppositesides of a longitudinal slot 60025 defined in an anvil plate 60024 ofthe anvil 60020.

Referring primarily to FIG. 163, a control circuit 760 may be programmedto control one or more functions of the surgical instrument 750 such as,for example, closure of the end effector 60002, activation of the atleast one electrode, and/or firing the cartridge 60030. The controlcircuit 760, in some examples, may comprise one or moremicrocontrollers, microprocessors, or other suitable processors forexecuting instructions that cause the processor or processors to controlthe one or more functions of the surgical instrument 60000. In oneaspect, a timer/counter 781 provides an output signal, such as theelapsed time or a digital count, to the control circuit 760. Thetimer/counter 781 may be configured to measure elapsed time, countexternal events, or time external events.

The control circuit 760 may generate a motor set point signal 772. Themotor set point signal 772 may be provided to a motor controller 758.The motor controller 758 may comprise one or more circuits configured toprovide a motor drive signal 774 to the motor 754 to drive a motor 754as described herein. In some examples, the motor 754 may be a brushed DCelectric motor. For example, the velocity of the motor 754 may beproportional to the motor drive signal 774. In some examples, the motor754 may be a brushless DC electric motor and the motor drive signal 774may comprise a PWM signal provided to one or more stator windings of themotor 754. Also, in some examples, the motor controller 758 may beomitted, and the control circuit 760 may generate the motor drive signal774 directly.

The motor 754 may receive power from an energy source 762. The energysource 762 may be or include a battery, a super capacitor, or any othersuitable energy source. The motor 754 may be mechanically coupled to thedrive member 751 via a transmission 756. The transmission 756 mayinclude one or more gears or other linkage components to couple themotor 754 to the drive member 751.

In certain instances, a current sensor 786 can be employed to measurethe current drawn by the motor 754. The force required to advance thedrive member 751 corresponds to the current drawn by the motor 754. Theforce is converted to a digital signal and provided to the controlcircuit 760. The current drawn by the motor 754 can represent tissuecompression.

Referring to FIG. 164, a schematic of a control circuit 760 is depicted.According to the non-limiting aspect, the control circuit 760 caninclude a microcontroller comprising one or more processors 68002 (e.g.,microprocessor, microcontroller) coupled to at least one memory circuit68008. The memory circuit 68008 can be configured to storemachine-executable instructions that, when executed by the processor68002, can cause the processor 68002 to execute machine instructions toimplement the various processes described herein. The processor 68002can be any one of a number of single-core or multicore processors knownin the art. Alternatively and/or additionally, the microcontroller caninclude a logic board, such as a Field Programmable Gate Array, forexample. The memory circuit 8008 can comprise volatile and non-volatilestorage media. The processor 68002 may include an instruction processingunit 68004 and an arithmetic unit 68006. The instruction processing unit68004 can be configured to receive instructions from the memory circuit68008 of this disclosure.

The control circuit 760 may employ a position sensor 784 to determinethe position of the I-beam 764. Position information is provided to aprocessor 68002 of the control circuit 760, which can be programmed orconfigured to determine the position of the I-beam 764 based on theposition information. In one aspect, the position information isindicative of the rotational position of the drive member 751, and theprocessor 68002 is configured to calculate the positon of the I-beam 764based on the rotational position of the drive member 751.

A display 711 displays a variety of operating conditions of the surgicalinstrument 60000 and may include touch screen functionality for datainput. Information displayed on the display 711 may be overlaid withimages acquired via imaging modules.

The control circuit 760 may be in communication with one or more sensors788. The sensors 788 may be positioned on the end effector 752 andadapted to operate with the surgical instrument 750 to measure thevarious derived parameters such as gap distance versus time, tissuecompression versus time, and anvil strain versus time. The sensors 788may comprise a magnetic sensor, a magnetic field sensor, a strain gauge,a pressure sensor, a force sensor, an inductive sensor such as an eddycurrent sensor, a resistive sensor, a capacitive sensor, an opticalsensor, and/or any other suitable sensor for measuring one or moreparameters of the end effector 752.

In one aspect, sensors 788 may be implemented as a limit switch,electromechanical device, solid-state switches, Hall-effect devices, MRdevices, GMR devices, magnetometers, among others. In otherimplementations, the sensors 788 may be solid-state switches thatoperate under the influence of light, such as optical sensors, IRsensors, ultraviolet sensors, among others. Still, the switches may besolid-state devices such as transistors (e.g., FET, junction FET,MOSFET, bipolar, and the like). In other implementations, the sensors788 may include electrical conductorless switches, ultrasonic switches,accelerometers, and inertial sensors, among others. The sensors 788 mayinclude one or more sensors.

The control circuit 760 can be configured to simulate the response ofthe actual system of the instrument in the software of a controller. Thedrive member 751 can move one or more elements in the end effector 752at or near a target velocity. The surgical instrument 750 can include afeedback controller, which can be one of any feedback controllers,including, but not limited to a PID, a state feedback, LQR, and/or anadaptive controller, for example. The surgical instrument 750 caninclude a power source to convert the signal from the feedbackcontroller into a physical input such as case voltage, PWM voltage,frequency modulated voltage, current, torque, and/or force, for example.

In addition to stapling tissue grasped between the anvil 60020 and thecartridge 60030, the surgical instrument 60000 is further configured toapply an RF energy treatment to the tissue. An RF energy source 794(FIG. 163) is coupled to the end effector 60002. As illustrated in FIG.162, the anvil 60020 includes a first electrode assembly 60026 on afirst side of the longitudinal slot 60025, and a second electrodeassembly 60027 on a second side of the longitudinal slot 60025 oppositethe first side. The electrode assemblies 60026, 60027 can be separately,or commonly, connected to the RF energy source, and are configured todeliver RF energy to the tissue separately, or simultaneously.

In the illustrated example, the first electrode assembly 60026 includesthree segmented electrodes 60026 a, 60026 b, 60026 c arranged in a firstrow on the first side of the longitudinal slot 60025. Likewise, thesecond electrode assembly 60027 includes three segmented electrodes60027 a, 60027 b, 60027 c arranged in a second row on the second side ofthe longitudinal slot 60025. It is, however, understood that the numberof segmented electrodes in the anvil 60020 can be varied to accommodatevarious applications, for example. The segmented electrodes 60026 a-cand the segmented electrodes 60027 a-c can be separately, orsimultaneously, activated to deliver an RF energy treatment to thetissue in accordance with one or more RF energy algorithms, as discussedin greater detail below.

In the illustrated example, the first electrode assembly 60026 isstepped up from the row of staple cavity 60021. Likewise, the secondelectrode assembly 60027 is stepped up from the row of staple cavity60022. In various aspects, the segmented electrodes 60026 a-c and/or thesegmented electrodes 60027 a-c comprise the same, or substantially thesame, height. In other examples, the segmented electrodes 60026 a-cand/or the segmented electrodes 60027 a-c comprise different heights. Inone arrangement, the segmented electrodes 60026 a-c and/or the segmentedelectrodes 60027 a-c are arranged such that their heights graduallydecrease from the most distal to the most proximal. In anotherarrangement, the segmented electrodes 60026 a-c and/or the segmentedelectrodes 60027 a-c are arranged such that their heights graduallyincrease from the most distal to the most proximal.

Further to the above, the cartridge 60030 includes an asymmetriccartridge body 60034 which accommodates a third electrode assembly 60036including a row of segmented electrodes 60036 a, 60036 b, 60036 c, 60036d, 60036 e, 60036 f on a first side of the longitudinal slot 60035. Thethird electrode assembly 60036 is configured to oppose the firstelectrode assembly 60026 of the anvil 60020 in a closed configuration,as illustrated in FIG. 158. The cartridge 60030 lacks an electrodeassembly on the second side of the longitudinal slot 60035. Instead, thesecond electrode assembly 60027 of the anvil 60020 is opposed by alongitudinal step 60037 extending alongside the third electrode assembly60036. In certain instances, the longitudinal step 60037 extends inparallel, or at least substantially in parallel, with the thirdelectrode assembly 60036.

Although the third electrode assembly 60036 is depicted with sixsegmented electrodes 60036 a-f, more or less segmented electrodes couldbe utilized. The segmented electrodes 60036 a-f can be separately, orcommonly, connected to the RF energy source 794, and can be activatedseparately, or simultaneously. In the illustrated example, the electrodeassemblies 60026, 60027 define source electrodes, while the thirdelectrode assembly 60036 defines a return electrode such that bipolar RFenergy is configured to flow from the electrode assemblies 60026, 60027to the third electrode assembly 60036. In other examples, however, thethird electrode assembly 60036 can be configured as a source electrode,and one or both of the electrode assemblies 60026, 60027 can beconfigured as return electrodes.

Further to the above, the segmented electrodes 60036 a-f of the thirdelectrode assembly 60036 are arranged in a longitudinal row, and arespaced apart from one another. The third electrode assembly 60036further includes insulators 60039 a-e disposed in spaces between thesegmented electrodes 60036 a-f along the longitudinal row, as bestillustrated in FIG. 159. In one example, the insulators 60039 a-ecomprise a uniform length and/or shape. In other examples, theinsulators 60039 a-e comprise different lengths and/or shapes.

Referring primarily to FIGS. 160 and 161, a support wall 60048 extendsbetween and separates, or at least partially separates, the thirdelectrode assembly 60036 and the row of staple cavities 60031. The thirdelectrode assembly 60036 and the support wall 60048 are stepped up fromthe row of staple cavities 60031 on the first side of the longitudinalslot 60035. Likewise, the longitudinal step 60037 is stepped up from therow of staple cavities 60032 on the second side of the longitudinal slot60035. The longitudinal step 60037 and third electrode assembly 60036cooperatively define an interior tissue sealing zone stepped up fromexterior tissue stapling zones defined by the rows of staple cavities60031, 60032 defined on opposite sides of the interior tissue sealingzone. In the illustrated example, the longitudinal step 60037 and thirdelectrode assembly 60036 define, or at least partially define, oppositeside walls of the longitudinal slot 60035. The I-beam 764 is configuredto pass between the longitudinal step 60037 and third electrode assembly60036 in a firing motion of the surgical instrument 60000.

FIGS. 160 and 161 are a close-up view of the cartridge 60030illustrating an example composition of the third electrode assembly60036. A flex circuit 60041 extends longitudinally behind the segmentedelectrodes 60036 a-f and insulators 60039 a-e. The flex circuit 60041 ispositioned against the cartridge deck 60047. In the illustrated example,the segmented electrodes 60036 a-f are electrically connected to theflex circuit 60041 via passive switches, current limiting elements,energy-sensitive resistance elements, or locally-adjustable resistanceelements, which can be in the form of positive temperature coefficient(PTC) segments 60042 a-f In other examples, the segmented electrodes60036 a-f can be directly connected to the flex circuit 60041. In anyevent, the flex circuit 60041 is configured to connect the segmentedelectrodes 60036 a-f to the energy source 794.

In the illustrated example, the segmented electrodes 60036 a-f areseparately connected in series with corresponding PTC segments 60042a-f, respectively, as illustrated in FIG. 173. In other words, there arean equal number of segmented electrodes and PTC segments. In otherexamples, however, two or more segmented electrodes can be connected toone PTC segment.

In various aspects, the insulators 60039 a-e extend in gaps between thesegmented electrodes 60036 a-f, and comprise the same, or at leastsubstantially the same, height as the segmented electrodes 60036 a-fpermitting a uniform, or at least substantially uniform, tissuecontacting surface along the tissue sealing zone defined by the thirdelectrode assembly 60036. Alternatively, as best illustrated in FIG.160, the segmented electrodes 60036 a-f and the insulators 60039 a-e maycomprise different heights. The height disparity may allow the segmentedelectrodes 60036 a-f to act as conductive tissue gripping features.

In the illustrated example, the insulator 60039 e extends longitudinallybetween the segmented electrode 60036 f and the segmented electrode60036 e, and extends vertically to a first height slightly lesser thansecond and third heights of the segmented electrode 60036 f and thesegmented electrode 60036 e. In other examples, the second and thirdheights are greater than the first height. In other examples, the first,second, and third heights are the same, or at least substantially thesame.

In various aspects, the segmented electrodes 60036 a-f comprise auniform, or at least substantially uniform, height. In other examples,the segmented electrodes 60036 a-f comprise different heights. In onearrangement, the segmented electrodes 60036 a-f are arranged such thattheir heights gradually decrease from the most distal (segmentedelectrode 60036 f) to the most proximal (segmented electrode 60036 a).In another arrangement, the segmented electrodes 60036 a-f are arrangedsuch that their heights gradually increase from the most distal(segmented electrode 60036 f) to the most proximal (segmented electrode60036 a).

In various aspects, the third electrode assembly 60036 can be secured tothe cartridge body 60039 via posts 60043 extending through holes inthird electrode assembly 60036. As illustrated in FIG. 159, in certainexamples, the holes are defined in the insulators 60039 a-e. The posts60043 can also function as heat stakes, for example. Additionally, oralternatively, the third electrode assembly 60036 can be secured to thecartridge body 60039 using any suitable locking, or mating, features,for example.

In various aspects, the longitudinal step 60037 and the third electrodeassembly 60036 comprise the same, or at least substantially the same,height. In other examples, the longitudinal step 60037 and the thirdelectrode assembly 60036 comprise different heights. As illustrated inFIG. 158, the anvil 60020 and the cartridge 60030 cooperatively define atissue sealing gap 60044 including a first gap portion 60044 a definedbetween the first electrode assembly 60026 and the third electrodeassembly 60036, and a second gap portion 60044 b defined between thesecond electrode assembly 60027 and the longitudinal step 60037. Invarious aspects, the gap portions 60044 a, 60044 b comprise the same, orat least substantially the same, size and/or height. In other aspects,the gap portions 60044 a, 60044 b comprise different sizes and/orheights.

Further to the above, the anvil 60020 and the cartridge 60030cooperatively define a tissue-stapling gap 60045 therebetween. Thetissue stapling gap 60045 includes a first gap portion 60045 a definedbetween the row of staple pockets 60021 and the row of staple cavities60031, and a second gap portion 60045 b defined between the row ofstaple pockets 60022 and the row of staple cavities 60032. The tissuesealing gap 60044 extends between the first gap portion 60045 a and thesecond gap portion 60045 b.

In the illustrated example, the tissue sealing gap 60044 comprises adifferent height than the tissue stapling gap 60045. For effectivetissue sealing, the tissue sealing gap 60044 comprises a height selectedfrom a range of about 0.005″ to about 0.02″, a range of about 0.008″ toabout 0.018″, or a range of about 0.009″ to about 0.011″, for example.For effective tissue stapling, the tissue stapling gap 60045 comprises aheight selected from a range of about 0.04″ to about 0.08″, a range ofabout 0.05″ to about 0.07″, or a range of about 0.055″ to about 0.065.In at least one example, the anvil 60020 and the cartridge 60030cooperate to define a tissue sealing gap 60044 and a tissue stapling gap60045 therebetween, wherein the tissue sealing gap comprises a height ofabout 0.01″, and the tissue stapling gap comprises a height of about0.06″.

In various aspects, as best illustrated in FIG. 160, the rows of staplecavities 60031, 60032 include pocket extenders 60046 that protrude froma cartridge deck 60047 of the cartridge 60030. The pocket extenders60046 ensure a proper deployment of the staples 60033 into tissuepositioned against the cartridge deck 60047. In certain examples, thetissue sealing gap 60044 is raised above the pocket extenders 60046. Insuch examples, the longitudinal step 60037 and/or the third electrodeassembly 60036 comprise a height, or heights, greater than that of thepocket extenders 60046, for example.

In various aspects, as best illustrated in FIG. 160, the longitudinalstep 60037 and the support wall 60048 include distal ramps 60037 a,60048 a that facilitate insertion of the cartridge 60030 beneath atarget tissue. The distal ramps 60037 a, 60048 a gradually protrude fromthe cartridge deck 60047 toward top edges that are coplanar, or at leastsubstantially coplanar, with tissue contacting surfaces of thelongitudinal step 60037 and the third electrode assembly 30036, forexample.

Referring primarily to FIG. 158, the end effector 60002 is shown in aclosed configuration suitable for application of a therapeutic energytreatment to a tissue portion between the electrode assemblies 60026,60027 and the third electrode assembly 60036 and the longitudinal step60037, and application of a tissue stapling treatment to tissue portionsbetween rows of staple pockets 60021, 60022 and rows of staple cavities60031, 60032. In the closed configuration, a tissue sealing centerlineis defined through the tissue sealing gap 60044, and a tissue staplingcenter line is defined through the tissue stapling gap 60045, whereinthe tissue sealing centerline is higher than the tissue staplingcenterline. In other words, the tissue sealing centerline is furtheraway from the cartridge deck 60047 than the tissue stapling centerline.In the illustrated example, the tissue sealing gap 60044 is higher, orfurther away from the cartridge deck 60047, than the tissue staplingcenterline.

In other configurations of the end effector 60002, the tissue sealingcenterline and the tissue stapling centerline are collinear. In variousaspects, the tissue sealing centerline is equidistant from the firstelectrode assembly 60026 and the third electrode assembly 60036, and/orequidistant from the second electrode assembly 60027 and thelongitudinal step 60037. In various aspects, the tissue staplingcenterline is equidistant from the first row of staple cavities 60021and the first row of staple cavities 60031, and/or equidistant from thesecond row of staple cavities 60022 and the second row of staplecavities 60032.

In various aspects, the RF energy device 794, which is configured tosupply RF energy to the end effector 60002, can be in the form of agenerator such as, for example, generators 800, 900, which are describedin greater detail below in connection with FIGS. 165, 166. In variousaspects, the RF energy device 794 is electrically coupled to theelectrode assemblies 60026, 60027, 60036, and the control circuit 760 isconfigured to cause the RF energy source 794 to selectively switch oneor more of the segmented electrodes of the electrode assemblies 60026,60027, 60036 between an active mode and an inactive mode. In certaininstances, one or more switching mechanisms can be employed totransition one or more of the segmented electrodes of the electrodeassemblies 60026, 60027, 60036 between the active mode and inactivemode. In the active mode, the segmented electrodes of electrodeassemblies 60026, 60027, 60036 can be utilized as source electrodes orreturn electrodes, depending on polarity, to implement various tissuesealing algorithms defined by the control circuit 760, for example.

In various aspects, the control circuit 760 may cause the RF energysource 794 to adaptively alternate, or switch, between an opposingbipolar energy mode and an offset bipolar energy mode. In the opposingbipolar energy mode the control circuit 760 is configured to cause theRF energy source 794 to pass a first therapeutic signal between thefirst electrode assembly 60026 and the third electrode assembly 60036.In the offset bipolar energy mode, the control circuit 760 is configuredto cause the RF energy source 794 to pass a second therapeutic signalbetween the second electrode assembly 60027 and the third electrodeassembly 60036.

The cartridge 60030, on one side of the longitudinal slot 60035,includes the longitudinal step 60037 which is configured to cooperatewith the second electrode assembly 60027 of the anvil 60020 to achieve atissue compression suitable for energy sealing, but does not act as areturn/source electrode. Alternating between the opposing energy modeand the offset energy mode permits a proper sealing of tissue in thesecond gap portion 60044 b of the tissue sealing gap 60044 where anelectrode assembly is lacking due to the presence of the longitudinalstep 60037. In various aspects, as described in greater detail elsewhereherein, the longitudinal step 60037 includes a cavity 60049 thereinconfigured to accommodate a driver support that resists driver roll. Thelongitudinal step 60037 permits the driver support to be extended abovethe cartridge deck 60047 to resist driver roll.

In various aspects, the control circuit 760 may cause the RF energysource 794 to adaptively alternate, or switch, between the opposingbipolar energy mode and the offset bipolar energy mode based on a tissueparameter, or condition, such as, for example, tissue impedance. FIG.167 is a logic flow diagram of a process 60160 depicting a controlprogram or a logic configuration for sealing tissue grasped by an endeffector by alternating, or switching, between the opposing energy modeand the offset energy mode. In certain instances, the process 60160 canbe implemented by the surgical instrument 60000, for example. In certaininstances, the memory 68008 stores program instructions that, whenexecuted by the processor 68002, cause the processor 68002 to performone or more aspects of the process 60160.

The process 60160 includes monitoring 60161 a tissue parameter of atissue grasped by the end effector 60002. In certain examples, thetissue parameter is a tissue compression. The control circuit 760 maymonitor 60161 the tissue compression based on sensor signals from one ormore sensors 788.

If 60162 the tissue parameter indicates suitable energy sealingconditions, the process 60160 activates 60163 one of the opposing energymode and the offset energy mode. To determine whether the tissueparameter is indicative of suitable energy sealing conditions, thecontrol circuit 760 may, for example, compare detected values of thetissue parameter to a predetermined threshold indicative of suitableenergy sealing conditions, which can be stored in a storage mediumaccessible by the processor 68002 such as, for example, the memory68008.

Following detection of a tissue parameter indicative of suitable energysealing conditions, only the opposing energy mode is activated 60163,while the offset energy mode remains inactive. In the opposing energymode, the control circuit 760 may activate the electrode assemblies60026, 60036, while the electrode assembly 60027 remains inactive. Theprocess 60160 further includes monitoring tissue impedance 60164 todetermine when to alternate, or switch, between the opposing energy modeand the offset energy mode. As described elsewhere herein in greaterdetail, tissue impedance of a tissue portion can be detected, forexample by a control circuit 760, by causing a sub-therapeutic signal tobe passed through the tissue portion, receiving measurements from avoltage sensing circuit 924 and the current sensing circuit 914, anddividing the measurements from the voltage sensing circuit 924, by thecorresponding measurements from the current sensing circuit 914, forexample.

In the illustrated example, if 60165 a tissue impedance equal to, orbeyond, a predetermined threshold is detected, the process 60160switches 60166 from the opposing energy mode to the offset energy mode.To switch to the offset energy mode, the control circuit 760 maydeactivate the electrode assembly 60026, and activate the electrodeassembly 60027. In other instances, the offset energy mode is activatedbefore activation of the opposing energy mode, and deactivated with, orafter, activation of the opposing energy mode.

Generator Hardware

FIG. 165 is a simplified block diagram of a generator 800 configured toprovide inductorless tuning, among other benefits. Additional details ofthe generator 800 are described in U.S. Pat. No. 9,060,775, titledSURGICAL GENERATOR FOR ULTRASONIC AND ELECTROSURGICAL DEVICES, whichissued on Jun. 23, 2015, which is herein incorporated by reference inits entirety. The generator 800 may comprise a patient isolated stage802 in communication with a non-isolated stage 804 via a powertransformer 806. A secondary winding 808 of the power transformer 806 iscontained in the isolated stage 802 and may comprise a tappedconfiguration (e.g., a center-tapped or a non-center-tappedconfiguration) to define drive signal outputs 810 a, 810 b, 810 c fordelivering drive signals to different surgical instruments, such as, forexample, an ultrasonic surgical instrument, an RF electrosurgicalinstrument, and a multifunction surgical instrument which includesultrasonic and RF energy modes that can be delivered alone orsimultaneously. In particular, drive signal outputs 810 a, 810 c mayoutput an ultrasonic drive signal (e.g., a 420V root-mean-square (RMS)drive signal) to an ultrasonic surgical instrument, and drive signaloutputs 810 b, 810 c may output an RF electrosurgical drive signal(e.g., a 100V RMS drive signal) to an RF electrosurgical instrument(e.g. surgical instrument 60000), with the drive signal output 810 bcorresponding to the center tap of the power transformer 806.

It will be appreciated that the electrosurgical signal, provided to thesurgical instrument 60000, may be either a therapeutic orsub-therapeutic level signal where the sub-therapeutic signal can beused, for example, to monitor tissue or instrument conditions andprovide feedback to the generator 800. In certain instances, asub-therapeutic signal can be employed, for example, to detect animpedance of a tissue grasped by the end effector 60002.

The non-isolated stage 804 may comprise a power amplifier 812 having anoutput connected to a primary winding 814 of the power transformer 806.In certain forms, the power amplifier 812 may comprise a push-pullamplifier. For example, the non-isolated stage 804 may further comprisea logic device 816 for supplying a digital output to a digital-to-analogconverter (DAC) circuit 818, which in turn supplies a correspondinganalog signal to an input of the power amplifier 812. In certain forms,the logic device 816 may comprise a programmable gate array (PGA), aFPGA, programmable logic device (PLD), among other logic circuits, forexample. The logic device 816, by virtue of controlling the input of thepower amplifier 812 via the DAC circuit 818, may therefore control anyof a number of parameters (e.g., frequency, waveform shape, waveformamplitude) of drive signals appearing at the drive signal outputs 810 a,810 b, 810 c. In certain forms and as discussed below, the logic device816, in conjunction with a processor (e.g., a DSP discussed below), mayimplement a number of DSP-based and/or other control algorithms tocontrol parameters of the drive signals output by the generator 800.

Power may be supplied to a power rail of the power amplifier 812 by aswitch-mode regulator 820, e.g., a power converter. In certain forms,the switch-mode regulator 820 may comprise an adjustable buck regulator,for example. The non-isolated stage 804 may further comprise a firstprocessor 822, which in one form may comprise a DSP processor such as anAnalog Devices ADSP-21469 SHARC DSP, available from Analog Devices,Norwood, Mass., for example, although in various forms any suitableprocessor may be employed. In certain forms the DSP processor 822 maycontrol the operation of the switch-mode regulator 820 responsive tovoltage feedback data received from the power amplifier 812 by the DSPprocessor 822 via an ADC circuit 824. In one form, for example, the DSPprocessor 822 may receive as input, via the ADC circuit 824, thewaveform envelope of a signal (e.g., an RF signal) being amplified bythe power amplifier 812. The DSP processor 822 may then control theswitch-mode regulator 820 (e.g., via a PWM output) such that the railvoltage supplied to the power amplifier 812 tracks the waveform envelopeof the amplified signal. By dynamically modulating the rail voltage ofthe power amplifier 812 based on the waveform envelope, the efficiencyof the power amplifier 812 may be significantly improved relative to afixed rail voltage amplifier schemes.

In certain forms, the logic device 816, in conjunction with the DSPprocessor 822, may implement a digital synthesis circuit such as adirect digital synthesizer control scheme to control the waveform shape,frequency, and/or amplitude of drive signals output by the generator800. In one form, for example, the logic device 816 may implement a DDScontrol algorithm by recalling waveform samples stored in a dynamicallyupdated lookup table (LUT), such as a RAM LUT, which may be embedded inan FPGA. This control algorithm is particularly useful for ultrasonicapplications in which an ultrasonic transducer, such as an ultrasonictransducer, may be driven by a clean sinusoidal current at its resonantfrequency. Because other frequencies may excite parasitic resonances,minimizing or reducing the total distortion of the motional branchcurrent may correspondingly minimize or reduce undesirable resonanceeffects. Because the waveform shape of a drive signal output by thegenerator 800 is impacted by various sources of distortion present inthe output drive circuit (e.g., the power transformer 806, the poweramplifier 812), voltage and current feedback data based on the drivesignal may be input into an algorithm, such as an error controlalgorithm implemented by the DSP processor 822, which compensates fordistortion by suitably pre-distorting or modifying the waveform samplesstored in the LUT on a dynamic, ongoing basis (e.g., in real time). Inone form, the amount or degree of pre-distortion applied to the LUTsamples may be based on the error between a computed motional branchcurrent and a desired current waveform shape, with the error beingdetermined on a sample-by-sample basis. In this way, the pre-distortedLUT samples, when processed through the drive circuit, may result in amotional branch drive signal having the desired waveform shape (e.g.,sinusoidal) for optimally driving the ultrasonic transducer. In suchforms, the LUT waveform samples will therefore not represent the desiredwaveform shape of the drive signal, but rather the waveform shape thatis required to ultimately produce the desired waveform shape of themotional branch drive signal when distortion effects are taken intoaccount.

The non-isolated stage 804 may further comprise a first ADC circuit 826and a second ADC circuit 828 coupled to the output of the powertransformer 806 via respective isolation transformers 830, 832 forrespectively sampling the voltage and current of drive signals output bythe generator 800. In certain forms, the ADC circuits 826, 828 may beconfigured to sample at high speeds (e.g., 80 mega samples per second(MSPS)) to enable oversampling of the drive signals. In one form, forexample, the sampling speed of the ADC circuits 826, 828 may enableapproximately 200× (depending on frequency) oversampling of the drivesignals. In certain forms, the sampling operations of the ADC circuit826, 828 may be performed by a single ADC circuit receiving inputvoltage and current signals via a two-way multiplexer. The use ofhigh-speed sampling in forms of the generator 800 may enable, amongother things, calculation of the complex current flowing through themotional branch (which may be used in certain forms to implementDDS-based waveform shape control described above), accurate digitalfiltering of the sampled signals, and calculation of real powerconsumption with a high degree of precision. Voltage and currentfeedback data output by the ADC circuits 826, 828 may be received andprocessed (e.g., first-in-first-out (FIFO) buffer, multiplexer) by thelogic device 816 and stored in data memory for subsequent retrieval by,for example, the DSP processor 822. As noted above, voltage and currentfeedback data may be used as input to an algorithm for pre-distorting ormodifying LUT waveform samples on a dynamic and ongoing basis. Incertain forms, this may require each stored voltage and current feedbackdata pair to be indexed based on, or otherwise associated with, acorresponding LUT sample that was output by the logic device 816 whenthe voltage and current feedback data pair was acquired. Synchronizationof the LUT samples and the voltage and current feedback data in thismanner contributes to the correct timing and stability of thepre-distortion algorithm.

In certain forms, the voltage and current feedback data may be used tocontrol the frequency and/or amplitude (e.g., current amplitude) of thedrive signals. In one form, for example, voltage and current feedbackdata may be used to determine impedance phase. The frequency of thedrive signal may then be controlled to minimize or reduce the differencebetween the determined impedance phase and an impedance phase setpoint(e.g., 0°), thereby minimizing or reducing the effects of harmonicdistortion and correspondingly enhancing impedance phase measurementaccuracy. The determination of phase impedance and a frequency controlsignal may be implemented in the DSP processor 822, for example, withthe frequency control signal being supplied as input to a DDS controlalgorithm implemented by the logic device 816.

In another form, for example, the current feedback data may be monitoredin order to maintain the current amplitude of the drive signal at acurrent amplitude setpoint. The current amplitude setpoint may bespecified directly or determined indirectly based on specified voltageamplitude and power setpoints. In certain forms, control of the currentamplitude may be implemented by control algorithm, such as, for example,a proportional-integral-derivative (PID) control algorithm, in the DSPprocessor 822. Variables controlled by the control algorithm to suitablycontrol the current amplitude of the drive signal may include, forexample, the scaling of the LUT waveform samples stored in the logicdevice 816 and/or the full-scale output voltage of the DAC circuit 818(which supplies the input to the power amplifier 812) via a DAC circuit834.

The non-isolated stage 804 may further comprise a second processor 836for providing, among other things user interface (UI) functionality. Inone form, the UI processor 836 may comprise an Atmel AT91SAM9263processor having an ARM 926EJ-S core, available from Atmel Corporation,San Jose, Calif., for example. Examples of UI functionality supported bythe UI processor 836 may include audible and visual user feedback,communication with peripheral devices (e.g., via a USB interface),communication with a foot switch, communication with an input device(e.g., a touch screen display) and communication with an output device(e.g., a speaker). The UI processor 836 may communicate with the DSPprocessor 822 and the logic device 816 (e.g., via SPI buses). Althoughthe UI processor 836 may primarily support UI functionality, it may alsocoordinate with the DSP processor 822 to implement hazard mitigation incertain forms. For example, the UI processor 836 may be programmed tomonitor various aspects of user input and/or other inputs (e.g., touchscreen inputs, foot switch inputs, temperature sensor inputs) and maydisable the drive output of the generator 800 when an erroneouscondition is detected.

In certain forms, both the DSP processor 822 and the UI processor 836,for example, may determine and monitor the operating state of thegenerator 800. For the DSP processor 822, the operating state of thegenerator 800 may dictate, for example, which control and/or diagnosticprocesses are implemented by the DSP processor 822. For the UI processor836, the operating state of the generator 800 may dictate, for example,which elements of a UI (e.g., display screens, sounds) are presented toa user. The respective DSP and UI processors 822, 836 may independentlymaintain the current operating state of the generator 800 and recognizeand evaluate possible transitions out of the current operating state.The DSP processor 822 may function as the master in this relationshipand determine when transitions between operating states are to occur.The UI processor 836 may be aware of valid transitions between operatingstates and may confirm if a particular transition is appropriate. Forexample, when the DSP processor 822 instructs the UI processor 836 totransition to a specific state, the UI processor 836 may verify thatrequested transition is valid. In the event that a requested transitionbetween states is determined to be invalid by the UI processor 836, theUI processor 836 may cause the generator 800 to enter a failure mode.

The non-isolated stage 804 may further comprise a controller 838 formonitoring input devices (e.g., a capacitive touch sensor used forturning the generator 800 on and off, a capacitive touch screen). Incertain forms, the controller 838 may comprise at least one processorand/or other controller device in communication with the UI processor836. In one form, for example, the controller 838 may comprise aprocessor (e.g., a Meg168 8-bit controller available from Atmel)configured to monitor user input provided via one or more capacitivetouch sensors. In one form, the controller 838 may comprise a touchscreen controller (e.g., a QT5480 touch screen controller available fromAtmel) to control and manage the acquisition of touch data from acapacitive touch screen.

In certain forms, when the generator 800 is in a “power off” state, thecontroller 838 may continue to receive operating power (e.g., via a linefrom a power supply of the generator 800, such as the power supply 854discussed below). In this way, the controller 838 may continue tomonitor an input device (e.g., a capacitive touch sensor located on afront panel of the generator 800) for turning the generator 800 on andoff. When the generator 800 is in the power off state, the controller838 may wake the power supply (e.g., enable operation of one or moreDC/DC voltage converters 856 of the power supply 854) if activation ofthe “on/off” input device by a user is detected. The controller 838 maytherefore initiate a sequence for transitioning the generator 800 to a“power on” state. Conversely, the controller 838 may initiate a sequencefor transitioning the generator 800 to the power off state if activationof the “on/off” input device is detected when the generator 800 is inthe power on state. In certain forms, for example, the controller 838may report activation of the “on/off” input device to the UI processor836, which in turn implements the necessary process sequence fortransitioning the generator 800 to the power off state. In such forms,the controller 838 may have no independent ability for causing theremoval of power from the generator 800 after its power on state hasbeen established.

In certain forms, the controller 838 may cause the generator 800 toprovide audible or other sensory feedback for alerting the user that apower on or power off sequence has been initiated. Such an alert may beprovided at the beginning of a power on or power off sequence and priorto the commencement of other processes associated with the sequence.

In certain forms, the isolated stage 802 may comprise an instrumentinterface circuit 840 to, for example, provide a communication interfacebetween a control circuit of a surgical instrument (e.g., a controlcircuit comprising handpiece switches) and components of thenon-isolated stage 804, such as, for example, the logic device 816, theDSP processor 822, and/or the UI processor 836. The instrument interfacecircuit 840 may exchange information with components of the non-isolatedstage 804 via a communication link that maintains a suitable degree ofelectrical isolation between the isolated and non-isolated stages 802,804, such as, for example, an IR-based communication link. Power may besupplied to the instrument interface circuit 840 using, for example, alow-dropout voltage regulator powered by an isolation transformer drivenfrom the non-isolated stage 804.

In one form, the instrument interface circuit 840 may comprise a logiccircuit 842 (e.g., logic circuit, programmable logic circuit, PGA, FPGA,PLD) in communication with a signal conditioning circuit 844. The signalconditioning circuit 844 may be configured to receive a periodic signalfrom the logic circuit 842 (e.g., a 2 kHz square wave) to generate abipolar interrogation signal having an identical frequency. Theinterrogation signal may be generated, for example, using a bipolarcurrent source fed by a differential amplifier. The interrogation signalmay be communicated to a surgical instrument control circuit (e.g., byusing a conductive pair in a cable that connects the generator 800 tothe surgical instrument) and monitored to determine a state orconfiguration of the control circuit. The control circuit may comprise anumber of switches, resistors, and/or diodes to modify one or morecharacteristics (e.g., amplitude, rectification) of the interrogationsignal such that a state or configuration of the control circuit isuniquely discernable based on the one or more characteristics. In oneform, for example, the signal conditioning circuit 844 may comprise anADC circuit for generating samples of a voltage signal appearing acrossinputs of the control circuit resulting from passage of interrogationsignal therethrough. The logic circuit 842 (or a component of thenon-isolated stage 804) may then determine the state or configuration ofthe control circuit based on the ADC circuit samples.

In certain forms, the first data circuit may store informationpertaining to the particular surgical instrument with which it isassociated. Such information may include, for example, a model number, aserial number, a number of operations in which the surgical instrumenthas been used, and/or any other type of information. This informationmay be read by the instrument interface circuit 840 (e.g., by the logiccircuit 842), transferred to a component of the non-isolated stage 804(e.g., to logic device 816, DSP processor 822, and/or UI processor 836)for presentation to a user via an output device and/or for controlling afunction or operation of the generator 800. Additionally, any type ofinformation may be communicated to the first data circuit for storagetherein via the first data circuit interface 846 (e.g., using the logiccircuit 842). Such information may comprise, for example, an updatednumber of operations in which the surgical instrument has been usedand/or dates and/or times of its usage.

As discussed previously, a surgical instrument may be detachable from ahandpiece (e.g., the multifunction surgical instrument may be detachablefrom the handpiece) to promote instrument interchangeability and/ordisposability. In such cases, conventional generators may be limited intheir ability to recognize particular instrument configurations beingused and to optimize control and diagnostic processes accordingly. Theaddition of readable data circuits to surgical instruments to addressthis issue is problematic from a compatibility standpoint, however. Forexample, designing a surgical instrument to remain backwardly compatiblewith generators that lack the requisite data reading functionality maybe impractical due to, for example, differing signal schemes, designcomplexity, and cost. Forms of instruments discussed herein addressthese concerns by using data circuits that may be implemented inexisting surgical instruments economically and with minimal designchanges to preserve compatibility of the surgical instruments withcurrent generator platforms.

Additionally, forms of the generator 800 may enable communication withinstrument-based data circuits. For example, the generator 800 may beconfigured to communicate with a second data circuit contained in aninstrument (e.g., the multifunction surgical instrument). In some forms,the second data circuit may be implemented in a many similar to that ofthe first data circuit described herein. The instrument interfacecircuit 840 may comprise a second data circuit interface 848 to enablethis communication. In one form, the second data circuit interface 848may comprise a tri-state digital interface, although other interfacesmay also be used. In certain forms, the second data circuit maygenerally be any circuit for transmitting and/or receiving data. In oneform, for example, the second data circuit may store informationpertaining to the particular surgical instrument with which it isassociated. Such information may include, for example, a model number, aserial number, a number of operations in which the surgical instrumenthas been used, and/or any other type of information.

In some forms, the second data circuit may store information about theelectrical and/or ultrasonic properties of an associated ultrasonictransducer, end effector, or ultrasonic drive system. For example, thefirst data circuit may indicate a burn-in frequency slope, as describedherein. Additionally or alternatively, any type of information may becommunicated to second data circuit for storage therein via the seconddata circuit interface 848 (e.g., using the logic circuit 842). Suchinformation may comprise, for example, an updated number of operationsin which the instrument has been used and/or dates and/or times of itsusage. In certain forms, the second data circuit may transmit dataacquired by one or more sensors (e.g., an instrument-based temperaturesensor). In certain forms, the second data circuit may receive data fromthe generator 800 and provide an indication to a user (e.g., a lightemitting diode indication or other visible indication) based on thereceived data.

In certain forms, the second data circuit and the second data circuitinterface 848 may be configured such that communication between thelogic circuit 842 and the second data circuit can be effected withoutthe need to provide additional conductors for this purpose (e.g.,dedicated conductors of a cable connecting a handpiece to the generator800). In one form, for example, information may be communicated to andfrom the second data circuit using a one-wire bus communication schemeimplemented on existing cabling, such as one of the conductors usedtransmit interrogation signals from the signal conditioning circuit 844to a control circuit in a handpiece. In this way, design changes ormodifications to the surgical instrument that might otherwise benecessary are minimized or reduced. Moreover, because different types ofcommunications implemented over a common physical channel can befrequency-band separated, the presence of a second data circuit may be“invisible” to generators that do not have the requisite data readingfunctionality, thus enabling backward compatibility of the surgicalinstrument.

In certain forms, the isolated stage 802 may comprise at least oneblocking capacitor 850-1 connected to the drive signal output 810 b toprevent passage of DC current to a patient. A single blocking capacitormay be required to comply with medical regulations or standards, forexample. While failure in single-capacitor designs is relativelyuncommon, such failure may nonetheless have negative consequences. Inone form, a second blocking capacitor 850-2 may be provided in serieswith the blocking capacitor 850-1, with current leakage from a pointbetween the blocking capacitors 850-1, 850-2 being monitored by, forexample, an ADC circuit 852 for sampling a voltage induced by leakagecurrent. The samples may be received by the logic circuit 842, forexample. Based changes in the leakage current (as indicated by thevoltage samples), the generator 800 may determine when at least one ofthe blocking capacitors 850-1, 850-2 has failed, thus providing abenefit over single-capacitor designs having a single point of failure.

In certain forms, the non-isolated stage 804 may comprise a power supply854 for delivering DC power at a suitable voltage and current. The powersupply may comprise, for example, a 400 W power supply for delivering a48 VDC system voltage. The power supply 854 may further comprise one ormore DC/DC voltage converters 856 for receiving the output of the powersupply to generate DC outputs at the voltages and currents required bythe various components of the generator 800. As discussed above inconnection with the controller 838, one or more of the DC/DC voltageconverters 856 may receive an input from the controller 838 whenactivation of the “on/off” input device by a user is detected by thecontroller 838 to enable operation of, or wake, the DC/DC voltageconverters 856.

FIG. 166 illustrates an example of a generator 900, which is one form ofthe generator 800 (FIG. 165). The generator 900 is configured to delivermultiple energy modalities to a surgical instrument. The generator 900provides RF and ultrasonic signals for delivering energy to a surgicalinstrument either independently or simultaneously. The RF and ultrasonicsignals may be provided alone or in combination and may be providedsimultaneously. As noted above, at least one generator output candeliver multiple energy modalities (e.g., ultrasonic, bipolar ormonopolar RF, irreversible and/or reversible electroporation, and/ormicrowave energy, among others) through a single port, and these signalscan be delivered separately or simultaneously to the end effector totreat tissue.

The generator 900 comprises a processor 902 coupled to a waveformgenerator 904. The processor 902 and waveform generator 904 areconfigured to generate a variety of signal waveforms based oninformation stored in a memory coupled to the processor 902, not shownfor clarity of disclosure. The digital information associated with awaveform is provided to the waveform generator 904 which includes one ormore DAC circuits to convert the digital input into an analog output.The analog output is fed to an amplifier 1106 for signal conditioningand amplification. The conditioned and amplified output of the amplifier906 is coupled to a power transformer 908. The signals are coupledacross the power transformer 908 to the secondary side, which is in thepatient isolation side. A first signal of a first energy modality isprovided to the surgical instrument between the terminals labeledENERGY1 and RETURN. A second signal of a second energy modality iscoupled across a capacitor 910 and is provided to the surgicalinstrument between the terminals labeled ENERGY2 and RETURN. It will beappreciated that more than two energy modalities may be output and thusthe subscript “n” may be used to designate that up to n ENERGYnterminals may be provided, where n is a positive integer greater than 1.It also will be appreciated that up to “n” return paths RETURNn may beprovided without departing from the scope of the present disclosure.

A first voltage sensing circuit 912 is coupled across the terminalslabeled ENERGY1 and the RETURN path to measure the output voltagetherebetween. A second voltage sensing circuit 924 is coupled across theterminals labeled ENERGY2 and the RETURN path to measure the outputvoltage therebetween. A current sensing circuit 914 is disposed inseries with the RETURN leg of the secondary side of the powertransformer 908 as shown to measure the output current for either energymodality. If different return paths are provided for each energymodality, then a separate current sensing circuit should be provided ineach return leg. The outputs of the first and second voltage sensingcircuits 912, 924 are provided to respective isolation transformers 916,922 and the output of the current sensing circuit 914 is provided toanother isolation transformer 918. The outputs of the isolationtransformers 916, 928, 922 in the on the primary side of the powertransformer 908 (non-patient isolated side) are provided to a one ormore ADC circuit 926. The digitized output of the ADC circuit 926 isprovided to the processor 902 for further processing and computation.The output voltages and output current feedback information can beemployed to adjust the output voltage and current provided to thesurgical instrument and to compute output impedance, among otherparameters. Input/output communications between the processor 902 andpatient isolated circuits is provided through an interface circuit 920.Sensors also may be in electrical communication with the processor 902by way of the interface circuit 920.

In one aspect, the impedance may be determined by the processor 902 bydividing the output of either the first voltage sensing circuit 912coupled across the terminals labeled ENERGY1/RETURN or the secondvoltage sensing circuit 924 coupled across the terminals labeledENERGY2/RETURN by the output of the current sensing circuit 914 disposedin series with the RETURN leg of the secondary side of the powertransformer 908. The outputs of the first and second voltage sensingcircuits 912, 924 are provided to separate isolations transformers 916,922 and the output of the current sensing circuit 914 is provided toanother isolation transformer 916. The digitized voltage and currentsensing measurements from the ADC circuit 926 are provided the processor902 for computing impedance. As an example, the first energy modalityENERGY1 may be ultrasonic energy and the second energy modality ENERGY2may be RF energy. Nevertheless, in addition to ultrasonic and bipolar ormonopolar RF energy modalities, other energy modalities includeirreversible and/or reversible electroporation and/or microwave energy,among others. Also, although the example illustrated in FIG. 166 shows asingle return path RETURN may be provided for two or more energymodalities, in other aspects, multiple return paths RETURNn may beprovided for each energy modality ENERGYn. Thus, as described herein,the ultrasonic transducer impedance may be measured by dividing theoutput of the first voltage sensing circuit 912 by the current sensingcircuit 914 and the tissue impedance may be measured by dividing theoutput of the second voltage sensing circuit 924 by the current sensingcircuit 914.

As shown in FIG. 166, the generator 900 comprising at least one outputport can include a power transformer 908 with a single output and withmultiple taps to provide power in the form of one or more energymodalities, such as ultrasonic, bipolar or monopolar RF, irreversibleand/or reversible electroporation, and/or microwave energy, amongothers, for example, to the end effector depending on the type oftreatment of tissue being performed. For example, the generator 900 candeliver energy with higher voltage and lower current to drive anultrasonic transducer, with lower voltage and higher current to drive RFelectrodes for sealing tissue, or with a coagulation waveform for spotcoagulation using either monopolar or bipolar RF electrosurgicalelectrodes. The output waveform from the generator 900 can be steered,switched, or filtered to provide the frequency to the end effector ofthe surgical instrument. The connection of an ultrasonic transducer tothe generator 900 output would be preferably located between the outputlabeled ENERGY1 and RETURN as shown in FIG. 166. In one example, aconnection of RF bipolar electrodes to the generator 900 output would bepreferably located between the output labeled ENERGY2 and RETURN. In thecase of monopolar output, the preferred connections would be activeelectrode (e.g., pencil or other probe) to the ENERGY2 output and asuitable return pad connected to the RETURN output.

Additional details are disclosed in U.S. Patent Application PublicationNo. 2017/0086914, titled TECHNIQUES FOR OPERATING GENERATOR FORDIGITALLY GENERATING ELECTRICAL SIGNAL WAVEFORMS AND SURGICALINSTRUMENTS, which published on Mar. 30, 2017, which is hereinincorporated by reference in its entirety.

Referring to FIGS. 168-170, a cartridge 60130 is similar in manyrespects to the cartridge 60030. For example, the cartridge 60130 canalso be utilized with the surgical instrument 60000 to seal and stapletissue. Also, the cartridge 60130 includes rows of staple cavities60131, 60132 extending on opposite sides of a longitudinal slot 60135defined in a cartridge body 60139, and housing staples 60133. Thecartridge 60130 also includes a third electrode assembly 60136 coupledto the cartridge body 60139. In the illustrated example, the thirdelectrode assembly 60136 includes segmented electrodes 60136 a-f and aflex circuit 60141 extending longitudinally behind the segmentedelectrodes, and configured to connect the segmented electrodes to the RFenergy source 794. The flex circuit 60141 is positioned against thecartridge deck 60147. Sandwiched between the segmented electrodes andthe flex circuit 60141 are passive switches, current limiting elements,energy-sensitive resistance elements, or locally-adjustable resistanceelements, which can be in the form of positive temperature coefficient(PTC) segments 60142.

Further to the above, the third electrode assembly 60136 is configuredto cover exposed cavities 60134 in the cartridge body 60139, wherein theexposed cavities 60134 are configured to accommodate driver supports60149 a of staple drivers 60149. The driver supports 60149 a areconfigured to resist driver roll. The exposed cavities 60134 permit thedriver support 60149 a to be extended above the cartridge deck 60147 toresist driver roll. Like the cartridge 60030, the cartridge 60130includes a longitudinal step 60137—similar to the longitudinal stop60037, which are not repeated herein for brevity. The longitudinal step60137 is configured to cover exposed cavities 60134′ in the cartridgebody 60139, wherein the exposed cavities 60134′ are configured toaccommodate driver supports 60149 a′ of staple drivers 60149′. Thedriver supports 60149 a′ are configured to resist driver roll. Theexposed cavities 60134′ permit the driver supports 60149 a′ to beextended above the cartridge deck 60147 to resist driver roll.Additional details about driver supports are disclosed elsewhere in thepresent disclosure, and are not repeated herein for brevity.

Securing members 60145 a-c protrude from a cartridge deck 60147 of thecartridge 60130. The securing members 60145 a-c are configured tolockingly engage the third electrode assembly 60136. In the illustratedexample, the securing members 60145 a-c define right-angled bracket sthat are configured to matingly engage portions of the third electrodeassembly 60136. During assembly, insulative segments of the thirdelectrode assembly 60136 are configured to snap into a lockingengagement with the securing members 6045 a-c.

FIG. 171 illustrates a cross-sectional view of the anvil 60020 of FIG.162. In the illustrated example, the electrode assemblies 60026, 60027include segmented electrodes 60026 a-c and 60027 a-c, respectively.Further, Flex circuits 60056, 60058 extend longitudinally between thesegmented electrodes 60026 a-c and 60027 a-c, respectively, and an anvildeck 60057. The flex circuits 60056, 60058 are configured to connect thesegmented electrodes to the RF energy source 794, as illustrated in FIG.173.

Sandwiched between the segmented electrodes and the flex circuits 60056,60058 are passive switches, current limiting elements, energy-sensitiveresistance elements, or locally-adjustable resistance elements, whichcan be in the form of positive temperature coefficient (PTC) segments60053 a-c, 60054 a-c. In the illustrated example, the segmentedelectrodes 60026 a-c, 60027 a-c of the electrode assemblies 60026, 60027are separately connected in series with corresponding PTC segments 60053a-c, 60054 a-c, respectively, as illustrated in FIG. 173. In otherwords, there are an equal number of segmented electrodes and PTCsegments. In other examples, however, two or more segmented electrodescan be connected to one PTC segment.

FIG. 172 illustrates an anvil 60120 similar in many respects to theanvil 60020. For example, the anvil 60120 can also be utilized with thesurgical instrument 60000 to seal and staple tissue. Also, the anvil60120 includes rows of staple pockets 60121, 60122 defined in an anvildeck 60157, and electrode assemblies 60126, 60127 extending on oppositesides of a longitudinal slot 60125. In the illustrated example, theelectrode assemblies 60126, 60127 include segmented electrodes 60126 a-cand 60127 a-c, respectively. Furthermore, flex circuits 60156, 60158extend longitudinally behind the segmented electrodes 60126 a-c and60127 a-c, respectively, and are configured to connect the segmentedelectrodes 60126 a-c and 60127 a-c to the RF energy source 794.

Further, the electrode assemblies 60126, 60127 include passive switches,current limiting elements, energy-sensitive resistance elements, orlocally-adjustable resistance elements, which can be in the form ofpositive temperature coefficient (PTC) segments 60153 a-c, 60154 a-c. Inthe illustrated example, the segmented electrodes 60126 a-c and 60127a-c are connected in series to the PTC segments 60153 a-c, 60154 a-c,respectively, but the PTC segments 60153 a-c, 60154 a-c are not locateddirectly behind the segmented electrodes 60126 a-c and 60127 a-c.Instead, the PTC segments 60153 a-c, 60154 a-c are disposed at aproximal portion of the anvil 60120. The flex Circuits 60156, 60158extend between the PTC segments 60153 a-c, 60154 a-c and the segmentedelectrodes 60126 a-c and 60127 a-c. In the illustrated example, each ofsegmented electrodes 60126 a-c and 60127 a-c is connected to a dedicatedPTC segment. In other, examples, however, two or more segmentedelectrodes can share a PTC segment.

Referring still to FIG. 172, PTC segments 60153 a-c and the PTC segments60154 a-c are arranged on opposite sides of the longitudinal slot 60125at a proximal portion of the anvil 60120. In the illustrated example,the PTC segments 60153 a-c and 60154 a-c are coupled to the anvil 60120proximal to the rows of staple pockets 60121, 60122. In addition, thePTC segments 60153 a-c and 60154 a-c are arranged in two rows. Otherarrangements are contemplated by the present disclosure.

FIG. 173 is an electrical diagram illustrating a simplified electricallayout of the electrode assemblies 60036, 60026, 60027, in accordancewith at least one aspect of the present disclosure. In the illustratedexample, the segmented electrodes 60036 a-f, 60026 a-c, 60027 a-c areseparately connected to passive switches, current limiting elements,energy-sensitive resistance elements, or locally-adjustable resistanceelements, which can be in the form of positive temperature coefficient(PTC) segments 60042 a-f, 60053 a-c, 60054 a-c, respectively.

The passive switches, current limiting elements, energy-sensitiveresistance elements, or locally-adjustable resistance elements, whichcan be in the form of positive temperature coefficient (PTC) segments60042 a-f, 60053 a-c, 60054 a-c, are configured to adaptively andindependently control current through their respective segmentedelectrodes 60036 a-f, 60026 a-c, 60027 a-c. In certain instances, thepassive switches, current limiting elements, energy-sensitive resistanceelements, or locally-adjustable resistance elements, which can be in theform of positive temperature coefficient (PTC) segments 60042 a-f, 60053a-c, 60054 a-c, are configured to passively and independentlydeactivate, or reduce, energy flow through their respective segmentedelectrodes 60036 a-f, 60026 a-c, 60027 a-c, in response to a shortcircuit, for example.

In the example illustrated in FIG. 173, each of the electrode assemblies60026, 60027, 60036 includes PTC segments. In other examples, however,PTC segments can be limited to any one or two of the electrodeassemblies 60026, 60027, 60036. As described in greater detail below,the PTC segments utilized with the electrode assemblies 60026, 60027,60036 can be different in one or more aspects. In certain examples, thePTC segments can be different in transition temperatures, materialcomposition, and/or response to short circuits.

FIG. 174 is an electrical diagram illustrating an electrical layout ofan alternative electrode assembly 60060 that can be implemented with oneor more of the electrode assemblies 60036, 60026, 60027. In theillustrated example, the electrode assembly 60060 includes segmentedelectrodes 60060 a-c. In other examples, however, the electrode assembly60060 may include more, or less, than three segmented electrodes. In anyevent, the segmented electrodes 60060 a-c are commonly connected to apassive switch, current limiting element, energy-sensitive resistanceelement, or locally-adjustable resistance element, which can be in theform of a positive temperature coefficient (PTC) segment 60061. In suchexample, the PTC segment 60061 is configured to adaptively andindependently control current through segmented electrodes 60060 a-c. Incertain instances, the PTC segment 60061 is configured to passively andindependently deactivate energy flow through the segmented electrodes60060 a-c in response to a short circuit, for example.

Referring primarily to FIGS. 163 and 173, the control circuit 760 maycause the RF energy source 794 to adaptively alternate, or switch,between an opposing bipolar energy mode and an offset bipolar energymode. In the opposing bipolar energy mode the control circuit 760 isconfigured to cause the RF energy source 794 to pass a first therapeuticsignal between the first electrode assembly 60026 and the thirdelectrode assembly 60036. In the offset bipolar energy mode, the controlcircuit 760 is configured to cause the RF energy source 794 to pass asecond therapeutic signal between the second electrode assembly 60027and the third electrode assembly 60036.

Further to the above, in the opposing energy mode, a current pathway canbe defined through the PTC segment 60053 a, the segmented electrode60026 a, the tissue (T) (between the anvil 60020 and the staplecartridge 60030), the segmented electrode 60036 a, and the PTC segment60042 a, for example. When the opposing energy mode is switched to theoffset energy mode, the current pathway is also switched. For example,in the offset energy mode, the current pathway can be defined throughthe PTC segment 60054 a, the segmented electrode 60024 a, the tissue(T), the segmented electrode 60036 a, and the PTC segment 60042 a.

Furthermore, depending on the size of the segmented electrodes andcircuit polarity, various other current pathways can be established. Forexample, current pathways can be established between the segmentedelectrode 60026 a and the segmented electrodes 60036 a, 60036 b.

FIG. 175 is a cross-sectional view of an end effector 60002′ similar inmany respects to the end effector 60002, which are not repeated hereinfor brevity. For example, the end effector 60002′ can also be used withthe surgical instrument 6000 in a similar manner to the end effector60002. Various components of the end effector 60002′, which are similarto the end effector 60002 are removed for clarity. Unlike the endeffector 60002, the end effector 60002′ includes an anvil 60020′ thatlacks the PTC segments 60054 a-f, 60053 a-f.

In the illustrated example, tissue (T) is captured between an anvil60020′ and the cartridge 60030′. The control circuit 760 then activatesthe electrode assemblies 60026, 60036 to apply a tissue treatment cycleto the tissue (T) utilizing an opposing bipolar energy mode. In theillustrated example, the RF energy source 794 causes current to flowfrom the electrode assembly 60026 to the electrode assembly 60036.Accordingly, the segmented electrodes 60026 b, 60026 c define sourceelectrodes and the segmented electrodes 60036 d, 60036 e, 60036 f definereturn electrodes. In other examples, the RF energy source 794 mayreverse the circuit polarity such that the segmented electrodes 60026 b,60026 c define return electrodes and the segmented electrodes 60036 d,60036 e, 60036 f define source electrodes.

In any event, the tissue (T) includes a staple 60033 previously-deployedinto the tissue. The presence of the staple 60033 causes a short circuitto form between the segmented electrodes 60026 c, 60036 e. As describedin greater detail below, the short circuit causes the resistance of thePTC segment 60042 e to increase (e.g. from 50 to 200) therebyeffectively deactivating the energy flow between the segmentedelectrodes 60026 c and 60036 e, or at least reducing the energy flow toa sub-therapeutic level.

Accordingly, the PTC segment 60042 e is configured to passively andindependently control the current flow through the tissue (T). Incertain instances, the PTC segment 60042 e is configured to passivelydeactivate the segmented electrode 60036 e without processor-basedcommunication or control, in response to a short circuit between thesegmented electrodes 60026 c, 60036 e. In the illustrated example,current is automatically diverted to adjacent segmented electrode 60036d, 60036 f, as the resistances of the PTC segments 60042 d, 60042 f havenot been affected by the short circuit.

PTC segments, in accordance with at least one aspect of the presentdisclosure, generally comprise a low-resistance condition at atemperature during a normal operation. However, on exposure to hightemperature due to, for example, unusually large current resulting fromthe formation of a short circuit or excessive discharge, the PTCsegments switch into an extremely high-resistance mode. Simply put, whenthe PTC segments are included in a circuit and an abnormal currentpasses through the circuit, such as in the instance of a short circuitcaused by a staple 60033, the resulting higher temperature conditionswitches the PTC segments to a higher resistance condition to decreasethe current passing through the circuit to a minimal level and, thus,protect electric elements of the circuit.

FIG. 176 is a graph 60060 illustrating the change in resistance (Q) of aPTC segment in response to a change in temperature (° C.), in accordancewith the at least one aspect of the present disclosure. In theillustrated example, the PTC segment comprises a transition temperatureTs, also referred to elsewhere herein as a switching temperature or athreshold temperature. In operation, a short circuit, possibly caused bythe presence of a previously-fired staple 60033 in the tissue (T), maycause an increase in the temperature of the PTC segment. At thetransition temperature Ts, the resistance (Q) of the PTC segmentincreases significantly, effectively deactivating the segmentedelectrode affected by the short circuit, as described supra.Accordingly, the PTC segment acts as a resettable fuse for overcurrentProtection.

FIG. 177 is another graph 60065 illustrating the change in resistance(Q) of a PTC segment in response to a change in temperature (° C.), inaccordance with the at least one aspect of the present disclosure. Theresistance (Q) is shown on a logarithmic scale. The resistance (Q) ofthe PTC segment is generally maintained at a steady state during normaloperation, but the resistance (Q) begins to increase exponentially atthe transition temperature Ts. As the temperature rises toward thetransition temperature Ts, the resistance (Q) increases slightly from aminimum resistance R_(min) to a higher resistance (e.g. double R_(min))at the transition temperature Ts. However, beyond the transitiontemperature Ts, the increase in the resistance (Q) is exponential,effectively resulting in a deactivation of the current through the PTCsegment.

Referring again to FIG. 175, the PTC segments 60042 a-f can beconfigured to locally sense shorted electrical pathways, where overlapwith previously-fired staples occurs, and deactivate affected segmentedelectrodes 60036 a-f, 60026 a-c, 60027 a-c, based on the same principlesdiscussed in connection with FIGS. 176 and 177. In the exemplificationillustrated in FIG. 175, the segmented electrodes 60036 a-f are commonlyconnected to the RF energy source 794 by individual connectionsoriginating from individual bifurcations of a common connection. Assuch, deactivation of the segmented electrode 60036 e by the PTC segment60042 e does not stop current flow to the other segmented electrodes inthe electrode assembly 60036. Instead, the current from the segmentedelectrode 60026 c is automatically diverted from the segmented electrode60036 e, and away from the staple 60033, toward the segmented electrodes60036 f, 60036 d. In result, the segmented electrode 60036 e ispassively and independently deactivated in response to the short circuitwithout processor based communication or control, while the remainingsegmented electrodes of the third electrode assembly 60036, which arenot affected by the short circuit, uninterruptedly continue to deliverenergy to the tissue to seal the tissue.

FIG. 178 is a graph 60070 depicting passive and independent control of acurrent through a tissue portion including a staple 60033 between theelectrode assemblies 60026, 60036 (e.g. between the segmented electrodes60026 c, 60036 f) during a tissue treatment cycle employing an opposingenergy mode, in accordance with at least one aspect of the presentdisclosure. In the illustrated example, PTC segments 60042 c, 60053 fare configured to perform a passive and independent control of thecurrent during the tissue treatment cycle. The Graph 60070 includesmultiple graphs depicting time (t) on the X-axis vs source electrode(e.g. 60026 c) active status 60071, return electrode (e.g. segmentedelectrode 60036 f) active status 60072, power level 60073, tissueimpedance 60074, and resistance 60075 of at least one of the PTCsegments 60042 c, 40053 f, on the Y-axis.

In the illustrated example, the control circuit 760 is configured toexecute a tissue treatment cycle including a sub-therapeutic signal60077 a and a therapeutic signal 60077 b applied to a tissue grasped bythe end effector 60002. The control circuit 760 is configured to causethe RF energy source 794 to activate 70076 the return electrode, andthen activate 70077 the source electrode. In certain instances, the RFenergy source 794 may include one or more switching mechanisms fortransitioning one or more of the segmented electrodes of the electrodeassemblies 60026, 60027, 60036 between active and inactive modes, forexample.

Further to the above, during application of the sub-therapeutic signal60077 a, the power level is maintained at a first level 60078 a too lowto effect a significant change (first portion 70079 a of the resistanceline) in the resistance of the PTC segment(s) in the presence of thestaple 60033. However, during application of the therapeutic signal60077 b, the power level is increased to a second level 60078 b, whichbegins to increase (second portion 70079 b of the resistance line) theresistance of the PTC segment(s) due to an increase in temperaturecaused by the short circuit created by the staple 60033. In certaininstances, the change in the resistance of the PTC segment(s) can bedetected by the control circuit 760 by monitoring current and voltageparameters. In certain instances, if the change in resistance is greaterthan or equal to a predetermined threshold, the control circuit 760concludes the presence of a short circuit, which can be reported to auser through the display 711, for example. Furthermore, in certaininstances, the control circuit 760 may be further to configured to shutdown 60080 power delivery to the end effector 60002 at this point.

If power delivery continues, the temperature of the PTC segment(s) willeventually reach the transition temperature Ts of the PTC segment(s). Atsuch point, the resistance of the PTC segment(s) increases (thirdportion 60079 c of the resistance line) exponentially, effectivelydeactivating 60081, 60081 the source and return electrodes.

In various instances, PTC segments in accordance with at least oneaspect of the present disclosure are ceramic PTC segments, withresistance-temperature characteristics that are attributed to theelectronic properties of ceramic grain boundaries. In certain aspects,one or more of the PTC segments 60042 a-f, 60053 a-c, 60054 a-c can beselected to operate as a quick-trip fuse or a slow-trip fuse in responseto a short circuit, such as one caused by a previously fired staple60033, based on their temperature-resistance characteristics.

FIG. 179 is a graph 60090 illustrating a PTC segment's trip response atdifferent temperatures. The Y-axis represents current through the PTCsegment, and the X-axis represents temperature of the PTC segment. Inthe illustrated example, a line 60091 is a hold-current line, whichrepresents a maximum value of hold current at operating temperature.Hold current is a maximum current value which can be flowed in normaloperation. Further, a line 60092 is a trip-current line, whichrepresents a minimum current value which is necessary for PTC segment tomove to high-resistance state. Hold current and trip current havetemperature dependence which features decreasing current value withincreasing temperature. The lines 60091, 60092 define three distinctregions. A first region 60090 a identifies where the PTC segmentoperates as a quick-trip fuse, a second region 60090 b identifies wherethe PTC segment operates at a low/normal resistance, and a third region60090 c identifies where the PTC segment operates as a slow-trip fuse.

Accordingly, one or more of the PTC segments 60042 a-f, 60053 a-c, 60054a-c can be selected to operate as a quick-trip fuse or a slow-trip fusebased on resistance-temperature characteristics. In certain instances,the slow-trip PTC segments comprise a higher transition temperature Tsthan the fast-trip PTC segments. In one example, one or more of the PTCsegments 60042 a-f can be selected to operate as a quick-trip fuse, andone or more of the PTC segments 60053 a-c, 60054 a-c can be selected tooperate as a slow-trip fuse, in response to the short circuit. In atleast one example, one or more of the PTC segments 60042 a-f may includea first transition temperature Ts, and one or more of the PTC segments60053 a-c, 60054 a-c may include a second transition temperature Tshigher than the first transition temperature.

In certain instances, the quick-trip fuse characteristic of the PTCsegments 60042 a-f ensure that current flow to the tissue is stoppedduring a short circuit. Meanwhile, the slow-trip fuse characteristic ofthe PTC segments 60053 a-c, 60054 a-c may still permit current to flowthrough the corresponding segmented electrodes 60026 a-c, 60027 a-c. Incertain instances, the electrode assemblies 60026, 60027 are configuredsuch that, while the slow-trip fuse of the PTC segments 60053 a-c, 60054a-c is triggered, each of the segmented electrodes 60026 a-c, 60027 a-callows the current to flow back to the RF energy source 794, or controlelectronics thereof (e.g. control circuit 760), in an isolated manner,to allow the control electronics to detect which of the segmentedelectrodes 60026 a-c, 60027 a-c is associated with a PTC segment thathas changed its resistance. The control circuit 760 may then alert auser, for example through the display 711, of the portion of the endeffector 60002 affected by the short circuit. Furthermore, the controlcircuit 760 may also adjust an ongoing tissue treatment cycle to addressthe detected short circuit.

FIG. 180 is a logic flow diagram of a process 60100 depicting a controlprogram or a logic configuration for detecting and addressing a shortcircuit during a tissue treatment cycle applied to tissue grasped by theend effector 60002. In certain instances, the process 60100 can beimplemented by the surgical instrument 60000, for example. In at leastone example, the process 60100 can be executed by the control circuit760. In certain instances, the memory 68008 stores program instructionsthat, when executed by the processor 68002, cause the processor 68002 toperform one or more aspects of the process 60100.

The process 60100 includes monitoring 60101 a parameter indicative of acurrent returned from a source segmented electrode (e.g. the segmentedelectrodes 60026 a-c, 60027 a-c). The control circuit 760 may receivesignals from a current sensor indicative of one or more current valuesof the returned current. The process 60100 detects 60106 a short circuitat the segmented electrode if 60103 a change in the monitored parameteris equal to, or beyond, a predetermined value. In certain instances, thepredetermined value can be stored in a storage medium such as, forexample, the memory 68008. The process 60100 may further issue 60104 analert and/or adjust 60105 at least one parameter of the tissue treatmentcycle in response to the short circuit.

FIG. 181 is a logic flow diagram of a process 60110 depicting a controlprogram or a logic configuration for a tissue treatment cycle applied totissue grasped by the end effector 60002, in accordance with at leastone aspect of the present disclosure. In certain instances, the process60110 can be implemented by the surgical instrument 60000, for example.The process 60110 is similar in many respects to the process 60150. Forexample, the process 60110 can also be executed by the control circuit760. In certain instances, the memory 68008 stores program instructionsthat, when executed by the processor 68002, cause the processor 68002 toperform one or more aspects of the process 60110.

The process 60110 includes monitoring 60111 a tissue parameter of atissue grasped by the end effector 60002. In certain examples, thetissue parameter is a tissue compression. The control circuit 760 maymonitor 60111 the tissue compression based on sensor signals from one ormore sensors 788. If 60112 the tissue parameter indicates suitableenergy sealing conditions, the process 60110 activates 60113 the offsetenergy mode, while the opposing energy mode remains inactive. Todetermine whether the tissue parameter is indicative of suitable energysealing conditions, the control circuit 760 may, for example, comparedetected values of the tissue parameter to a predetermined thresholdindicative of suitable energy sealing conditions, which can be stored ina storage medium accessible by the processor 68002 such as, for example,the memory 68008.

In the offset energy mode, the control circuit 760 may activate theelectrode assemblies 60026, 60036, while the electrode assembly 60027remains inactive. The process 60110 further includes monitoring tissueimpedance 60114 to determine when to switch from the offset energy modeto the opposing energy mode. As described elsewhere herein in greaterdetail, tissue impedance of a tissue portion can be detected, forexample by a control circuit 760, by causing a sub-therapeutic signal tobe passed through the tissue portion, receiving measurements from avoltage sensing circuit 924 and the current sensing circuit 914, anddividing the measurements from the voltage sensing circuit 924, by thecorresponding measurements from the current sensing circuit 914, forexample.

In the illustrated example, if 60114 a tissue impedance equal to, orbeyond, a predetermined threshold is detected, the process 60110switches 60115 from the opposing energy mode to the offset energy mode.To switch to the offset energy mode, the control circuit 760 maydeactivate the electrode assembly 60026, and activate the electrodeassembly 60027. In other instances, the offset energy mode is activatedbefore activation of the opposing energy mode, and deactivated with, orafter, activation of the opposing energy mode.

Further to the above, if 60116 a short circuit is detected, the process60110 may issue an alert 60117, switch to the offset energy mode 60118,and/or deactivate 60119 the affected segmented electrodes of one or moreof the electrode assemblies 60026, 60027, 60036, for example. A shortcircuit can be detected, as described in greater detail in connectionwith the process 60100, by monitoring a parameter indicative of acurrent returned from a source segmented electrode, for example.

In certain instances, the tissue is a thick tissue such as a livertissue, and the end effector 60002 is configured to grasp the livertissue and apply a tissue treatment cycle thereto in accordance with theprocess 60110. For example, the control circuit 760 may utilize theopposing energy modes to apply a feathering load technique, which causesthe end effector 60002 to maintain a predetermined compression onto thegrasped tissue at a constant, or substantially constant, value whileapplying the one of the offset and opposing energy modes to the graspedtissue. As the grasped tissue thins during welding, a short circuit maybe detected 60116 by the control circuit 760. For example, the thinningtissue may expose a pre-existing metallic object (e.g. staple or clip)in the tissue, which may cause the short circuit. In response, thecontrol circuit 760 may switch to the offset energy mode 60118 tomitigate the short circuit.

In certain instances, the process 60150 and/or the process 60100 can bemodified to begin with the offset energy mode instead of the opposingenergy mode. In such instances, the process 60150 and/or the process60100 may switch from the offset energy mode to the opposing energy modeto mitigate the short circuit. In certain instances, one of the offsetand opposing energy modes can be utilized in an initial tissue warmingportion of a tissue treatment cycle, while the other one of the offsetand opposing energy modes can be utilized in a tissue welding portion ofthe tissue treatment cycle, which follows the tissue warming portion.

In various aspects, The control circuit 760 can be configured to causethe RF energy source 794 to adjust power levels in segmented electrodesthat are kept in an active state following the detection of a shortcircuit. The adjustments may include increasing the power levels tocompensate for the segmented electrodes deactivated in response to theshort circuit.

In various aspects, the short circuit between one or more segmentedelectrodes of the electrode assemblies 60036, 60026, 60027 can bedetected by incorporating temperature sensors such as, for example,thermocouples at, or near, the segmented electrodes to detect PTCtransition temperatures Ts. A short circuit due to a pre-existingmetallic object such as a staple 60033 between a segmented electrode60026 c and a segmented electrode 60036 e, for example, causes atemperature increase in the PTC segment 60042 e to, or beyond the PTCtransition temperature Ts. The increase is detectable by the controlcircuit 760 based on signals generated by the temperature sensors. Inresponse, the control circuit 760 may adjust one or more parameters ofthe RF energy source 794 to mitigate the short circuit.

In various aspects, a short circuit between segmented electrodes of theelectrode assemblies 60036, 60026, 60027, due for example to apre-existing metallic object in the tissue, abnormally changes anelectric output of such segmented electrodes beyond the electric outputexpected during normal operating conditions. Further, the magnetic fieldinduced by the electric output in the event of a short circuit isdifferent than magnetic field induced during normal operations.

In various instances, the short circuit between segmented electrodes ofthe electrode assemblies 60036, 60026, 60027 such as, for example,segmented electrode 60026 c, 60036 e can be detected by incorporatingmagnetic sensors at, or near, the segmented electrodes 60026 c, 60036 eto measure a parameter of the magnetic field induced by the electricoutput of the segmented electrodes 60026 c, 60036 e. If a measured valueof the parameter is equal to, or is beyond, a predetermine threshold,the control circuit 760 detects a short circuit between the segmentedelectrodes 60026 c, 60036 e. Accordingly, the control circuit 760 can beconfigured to detect the short circuit based on the signals frommagnetic sensors configured to monitor the magnetic field induced by theelectric output of segmented electrodes of the electrode assemblies60036, 60026, 60027.

Referring to FIG. 182, a graph 60190 represents a power scheme 60191 fora tissue treatment cycle and corresponding tissue impedance 60192, inaccordance with at least one aspect of the present disclosure. The powerscheme 60191 can be implemented by the RF energy source 794, forexample. In certain instances, the control circuit 760 is configured tocause the RF energy source 794 to apply an energy treatment cycle, inaccordance with the power scheme 60191, to tissue grasped by the endeffector 60002.

In the illustrated example, the power scheme 60191 includes a firstsegment 160121 a (between times to and t_(a)), a second segment 60121 b(between times t_(a) and t_(b)), and a third segment 60121 c (betweentimes t_(b) and t_(c)). In the first segment 60121 a, the controlcircuit 760 is configured to cause the RF energy source 794 to apply atherapeutic energy to the tissue in an offset bipolar energy mode. TheRF energy source 794 may activate the electrode assemblies 60027, 60036to effect the offset bipolar energy mode. The electrode assembly 60026remains inactive during the first segment 60121 a. In at least oneexample, the electrode assembly 60027 is configured as a sourceelectrode, while the electrode assembly 60036 is configured as a returnelectrode. In other examples, the RF energy source 794 may reverse thecircuit polarity such that the electrode assembly 60036 becomes thesource electrode, and the electrode assembly 60027 becomes the returnelectrode.

In the second segment 60121 b, the control circuit 760 is configured tocause the RF energy source 794 to apply a therapeutic energy to thetissue in a hybrid mode using a combination of the opposing and offsetbipolar energy modes. The RF energy source 794 may activate theelectrode assembly 60026 to effect the opposing bipolar energy modeduring the second segment 60121 b. In the hybrid mode, the offsetbipolar energy mode is gradually decreased while the opposing bipolarenergy mode is gradually increased, as time transitions toward t_(b). Inother words, energy flow through the electrode assembly 60026 isgradually increased, while energy flow through the electrode assembly60027 is gradually decreased

In the third segment 60121 a, the control circuit 760 is configured tocause the RF energy source 794 to apply a therapeutic energy to thetissue in an opposing bipolar energy mode. The RF energy source 794 maycause the electrode assemblies 60026, 60036 to effect the opposingbipolar energy mode. The electrode assembly 60027 is deactivated duringthe third segment 60121 c. In at least one example, the electrodeassembly 60026 is configured as a source electrode, while the electrodeassembly 60036 is configured as a return electrode. In other examples,the RF energy source 794 may reverse the circuit polarity such that theelectrode assembly 60036 becomes the source electrode, and the electrodeassembly 60026 becomes the return electrode.

Referring to FIGS. 183, 184, 185, and 186, anvils 60210, 60220 aresimilar in many respects to the anvil 60020. For example, anvils 60210,60220 can be readily utilized with the end effector 60002, and similarlyinclude rows of staple pockets 60021, 60022 and electrode assemblies60026, 60027, with or without PTC segments 60053 a-c, 60054 a-c. In theexamples illustrated in FIGS. 183-186, the electrode assemblies 60026,60027 lack PTC segments. In other examples, however, the electrodeassemblies 60026, 60027 may include PTC segments 60053 a-c, 60054 a-c,as described in connection with the anvil 60020.

Furthermore, the anvils 60210, 60220 are assembled in different ways,and from different components. For example, the anvils 60210, 60220include different electrode carriers 60211, 60221 configured toaccommodate the electrode assemblies 60026, 60027. The electrodeassemblies 60026, 60027 are manufactured separately, then assembled withthe electrode carriers 60211, 60221. In at least one example, theelectrode assemblies 60026, 60027 are assembled with the electrodecarriers 60211, 60221 by press-fitting, snap-fitting, orinterference-fitting, for example, into corresponding longitudinal slots60213, 60214 and 60223, 60224, defined in tissue-contacting surfaces60216, 60226 of the anvil carriers 60211, 60221, respectively. In otherinstances, an adhering agent such as any suitable glue can be utilizedto fix the electrode assemblies 60026, 60027 to the anvil carriers60211, 60221, respectively.

The anvil carrier 60211 of the anvil 60210 defines an anvil cap 60212integrated therewith. On the other hand, the anvil carrier 60221 of theanvil 60220 includes separate carrier portions 60221 a, 60221 b that aremanufactured separately, and configured to be assembled with a separateanvil cap 60222. The anvil caps 60212, 60222 bridge longitudinal anvilslots 60215, 60225 configured to slidably accommodate an I-beam 764.

In various aspects, the electrode carriers 60211, 60221 are configuredto provide structural support to the anvils 60210, 60220, reduce I-beamfriction in the longitudinal slots 60215, 60225, and/or insulate themetallic anvil components from the electrode assemblies 60026, 60027,and ease assembly thereof into the anvils 60210, 60220, respectively.

Further to the above, the anvil carriers 60211, 60221 include sidewalls60231, 60232, 60233, 602234 keyed for mating engagement with sidewallsof staple pocket carriers 60217, 60218, 60227, 60228, respectively. Incertain examples, the anvil carriers 60211, 60221 are configured toslidably enter into a locking engagement with staple pocket carriers60217, 60218, 60227, 60228, respectively. In certain instances, thelocking engagements can be in the form of press-fit engagements,snap-fit engagements, interference-fit engagements, or any othersuitable engagement. Further, in certain instances, the anvil carriers60211, 60221 and corresponding staple pocket carriers 60217, 60218,60227, 60228, can be welded using any suitable welding technique.

In certain instances, as illustrated in FIGS. 183-186, the sidewalls60231, 60232, 60233, 602234 of the electrode carriers 60211, 60221define longitudinally-extending lateral slots configured to slidablyreceive longitudinally-extending lateral portions of the staple pocketcarriers 60217, 60218, 60227, 60228, respectively, for assemblytherewith. In certain examples, mating portions of the staple pocketcarriers 60217, 60218, 60227, 60228 are insertable into the slots of thesidewalls 60231, 60232, 60233, 602234 in a distal to proximal direction.In such examples, nose, or distal, portions of the anvils 60210, 60220are attached to distal portions of the electrode carriers 60211, 60221,respectively, after assembly of the staple pocket carriers 60217, 60218,60227, 60228 with the electrode carriers 60211, 60221.

In other examples, as illustrated in FIG. 187, an electrode carrier60211′ of an anvil 60210′, which is similar in many respects to theanvil 60210, may include an integral nose, or distal, portion 60219. Insuch instances, staple pocket carriers 60217, 60218 can be assembledwith the electrode carrier 60211′ by laterally inserting mating portionsof the staple pocket carriers 60217, 60218 into the slots defined by theside walls 60231, 60232 of the electrode carrier 60211′.

In various aspects, one or more surfaces of the electrode carriers60211, 60221 are covered, or coated, with an insulative material toisolate metallic components of the anvils 60210, 60220 from theelectrode assemblies 60026, 60027. The insulative coatings on internalsurfaces of the electrode carriers 60211, 60221, which interact with theI-beam 764 during staple firing, also act as friction-reducing coatings.In such instances, the anvil longitudinal slots 60215, 60225 can bemanufactured cheaply, using looser tolerances, while manufacturing theinsulating/friction-reducing coatings to tighter specifications tocompensate for the discrepancies/defects in the anvil longitudinal slots60215, 60225.

FIG. 188 illustrates an anvil 60240 similar in many respects to theanvils 60210, 60220. In the illustrated example, the anvil 60240includes separately-manufactured anvil cap 60242, staple pocket carriers60247, 60248, and electrode carriers 60241, 60243. The staple pocketcarriers 60247, 60248 include longitudinal openings defined in ledges60253, 60254 configured to receive, and matingly engage with, securingfeatures 60251, 60252 of the electrode carriers 60241, 60243.

In various instances, electrode sticking/charring is associated withenergy application to tissue by an end effector such as, for example,the end effector 60002. Energy travel through tissue between theelectrode assemblies 60026, 60027 of the anvil 60020 and the electrodeassembly 60036 of the cartridge 60030 may damage the electrodeassemblies by sticking and/or charring. To improve the life cycle of asurgical instrument 60000, the end effector 60002 is configured toconcentrate the energy near disposable components of the end effector60002 to protect against, or reduce the damage cause by, sticking and/orcharring in non-disposable components.

In the illustrated example, the cartridge 60030 is disposable, and theanvil 60020 is non-disposable. Consequently, the cartridge 60030 isreplaced with a new cartridge 60030 after every firing, while the sameanvil 60020 is utilized throughout the life cycle of the surgicalinstrument 60000. Accordingly, the end effector 60002 is configured toprotect against, or reduce the damage cause by, sticking and/or charringin the electrode assemblies 60026, 60027 by concentrating the energynear the electrode assembly 60036. In the illustrated example, this isachieved by designing the surface area of the segmented electrodes 60026a-c, 60027 a-c to be greater than the surface area of correspondingsegmented electrodes 60036 a-f In other instances, energy concentrationcan also be achieved by designing the disposable segmented electrodes60036 a-f to include raised portions, which can be spine-like portions,for example.

FIG. 189 is a schematic view of an end effector 60502 including an anvil60520 and a staple cartridge 60530. The end effector 60502 is similar inmany respects to the anvil 60020, which are not repeated herein forbrevity. For example, the end effector 60502 can be utilized with thesurgical instrument 60000, and is configured to apply a tissue treatmentcycle to tissue grasped between the anvil 60520 and the cartridge 60530.The tissue treatment cycle may include a tissue sealing phase and atissue stapling phase, for example, which can be administeredsimultaneously, sequentially, or in a staggered manner.

The anvil 60520 includes a longitudinal slot 60525 configured toslidably accommodate the I-beam 764. Rows of staple pockets 60521, 60522are disposed on opposite sides of the longitudinal slot 60525. The anvil60520 further includes electrode assemblies 60526, 60527 also disposedon opposite sides of the longitudinal slot 60525. The electrodeassemblies 60526, 60527 include rows of segmented electrodes 60526 a-c,60527 a-c. In the illustrated example, two rows of staple pockets andone row of segmented electrodes are depicted on each side of thelongitudinal slot 60525. Further, each row of segmented electrodesincludes three segmented electrodes. These numbers, however, are forillustrative purposes, and should not be construed as limiting. In otherexamples, the anvil 60520 may include two, three, five, or six rows ofstaple pockets, and/or one, three, or four rows of segmented electrodeseach includes two, four, five, or six segmented electrodes, for example.

Further to the above, the cartridge 60530 includes a longitudinal slot60535 configured to slidably accommodate the I-beam 764. Rows of staplecavities 60531, 60532 on opposite sides of the longitudinal slot 60535.The cartridge 60530 further includes electrode assemblies 60536, 60537also disposed on opposite sides of the longitudinal slot 60535. Theelectrode assemblies 60536, 60537 include rows of segmented electrodes60536 a-b, 60537 a-b. In the illustrated example, two rows of staplecavities and one row of segmented electrodes are depicted on each sideof the longitudinal slot 60535. Further, each row of segmentedelectrodes includes two segmented electrodes. These numbers, however,are for illustrative purposes, and should not be construed as limiting.In other examples, the cartridge 60530 may include two, three, five, orsix rows of staple pockets, and/or one, three, or four rows of segmentedelectrodes each includes three, four, five, or six segmented electrodes,for example.

In the illustrated example, the segmented electrodes 60526 a-c, 60527a-c, 60536 a-b, 60537 a-b are separately connected to the RF energysource 794. This configuration permits the control circuit 760 to causethe RF energy source 794 to selectively activate and deactivate theindividual electrode segments in accordance with predetermined tissuetreatment cycles and/or in response to certain events such as, forexample, the detection of a short circuit in connection with one or moreof the segmented electrodes, as described in greater detail elsewhereherein. In various aspects, a multiplexer may distribute the RF energyfrom the RF energy source 794 to the various segmented electrodes asdesired under the control of the control circuit 760, for example.

In certain instances, one or more of the segmented electrodes 60526 a-c,60527 a-c, 60536 a-b, 60537 a-b is separately connected to a separateconductor configured to separately connect to the RF energy source 794,which may include individual power sources for one or more of thesegmented electrodes 60526 a-c, 60527 a-c, 60536 a-b, 60537 a-b, forexample. The conductors can be responsible for transmitting control,sensing, communication, and/or other signals. The individual conductorsmay originate at a processor. In certain instances, the processor canreside locally in the end effector 60502. In other instances, theprocessor can be located proximally such as, for example, in a proximalhousing of the surgical instrument 60000, or at the RF energy source794. In various instances, a multiplexor can be employed, for example,at the end effector 60502 to control the segmented electrodes 60526 a-c,60527 a-c, 60536 a-b, 60537 a-b.

In certain instances, where a proximal processor (e.g. at a proximalhousing of the surgical instrument 60000 or at the RF energy source 794)is involved, a single conductor may extend from the processor to the endeffector 60502, which may split into separate connections for each ofthe segmented electrodes 60526 a-c, 60527 a-c, 60536 a-b, 60537 a-b, forexample. Alternatively, individual conductors, which can be incorporatedinto a flex circuit for example, may extend from the processor to eachof the segmented electrodes 60526 a-c, 60527 a-c, 60536 a-b, 60537 a-b.

In other instances, as illustrated in FIGS. 190 and 191, an end effector60502′, which is similar in many respects to the end effector 60502,which are not repeated herein for brevity, may further include one ormore passive switches, current limiting elements, energy-sensitiveresistance elements, or locally-adjustable resistance elements, whichcan be in the form of positive temperature coefficient (PTC) segments,for example. In the illustrated example, the end effector 60502′includes anvil electrode assemblies 60526′, 60527′ and cartridgeelectrode assemblies 60536′, 60537′, wherein each of the segmentedelectrodes 60526 a-c, 60527 a-c, 60536 a-b, 60537 a-b is connected inseries, or alternatively in parallel, to a PTC segment. In theillustrated example, each of the segmented electrodes 60526 a-c, 60527a-c, 60536 a-b, 60537 a-b is connected in series to one of the PTCsegments 60553 a-c, 60554 a-c, 60542 a-b, 60543 a-b.

Further to the above, since the RF energy source 794 is independentlyconnected to each of the segmented electrodes 60526 a-c, 60527 a-c,60536 a-b, 60537 a-b, the control circuit 760 can be configured todetect a location of a short circuit by detecting an increase in theresistance of a PTC segment through a measured change current and/orvoltage. In response, the control circuit 760 may issue an alert, forexample through the display 711, indicating the location of the effectedsegmented electrodes. Additionally, or alternatively, the controlcircuit 760 can be configured to deactivate the affected segmentedelectrodes at the determined location of the short circuit.

Also, since the RF energy source 794 is independently connected to eachof the segmented electrodes 60526 a-c, 60527 a-c, 60536 a-b, 60537 a-b,the control circuit 760 can be configured to prompt a clinician forinstructions on which of the segmented electrodes to activate for atissue treatment cycle. FIG. 192 is a logic flow diagram of a process60570 depicting a control program or a logic configuration for applyinga tissue treatment cycle to a tissue grasped by an end effector such asthe end effector 60502 exclusively using segmented electrodes selectedby a clinician. In certain instances, the process 60570 can beimplemented by the surgical instrument 60000, for example. The process60570 can be executed by a control circuit 760. In certain instances,the memory circuit 68008 stores machine-executable instructions that,when executed by the processor 68002, cause the processor 68002 toexecute machine instructions to implement the process 60570, forexample.

In the illustrated example, the process 60570 includes prompting 60571 aclinician to select segmented electrode. In at least one example, thecontrol circuit 760 causes the display 711 to present the schematicdiagram of FIG. 189. The clinician may then select segmented electrodesto be activated, for example by pressing onto the display 711. Theprocess 60570 further includes prompting 60572 the clinician to select atissue treatment cycle, only activating 60573 the selected segmentedelectrodes, and initiating 60574 the tissue treatment cycle only usingthe selected electrodes.

In certain instances, the control circuit 760 is configured toautomatically initiate the tissue treatment cycle, once clinicianselections are made. In certain examples, the automatic tissue treatmentcycle initiation can be further based on a tissue parameter. In suchexamples, initiation of the tissue treatment cycle is triggered by (i)receipt of the clinician selection(s), and (ii) detecting that ameasurement of a tissue parameter is within a predefined range, or isequal to, or beyond, a predetermined threshold. In certain instances,the tissue parameter is an impedance of the tissue grasped by the endeffector 60502, for example.

As described elsewhere herein in greater detail, tissue impedance of atissue portion can be detected, for example by a control circuit 760, bycausing a sub-therapeutic signal to be passed through the tissueportion, receiving measurements from a voltage sensing circuit 924 andthe current sensing circuit 914, and dividing the measurements from thevoltage sensing circuit 924, by the corresponding measurements from thecurrent sensing circuit 914, for example.

The control circuit 760 is then configured to only activate the selectedsegmented electrodes. Accordingly, only the selected segmentedelectrodes are utilized in treating the tissue. This approach causesenergy to flow in specific, preselected, portions of the jaws, whilemaintaining the remainder of the jaws in a cooler state.

In various aspects, the power requirements for effectively sealing atissue grasped by the end effector 60502 may vary depending, forexample, on the thickness and/or type of the grasped tissue. In certaininstances, impedance of the grasped tissue can be indicative of thepower required to effectively seal the tissue. Attempting to seal agrasped to tissue while available power is less than the required powercan yield an ineffective, incomplete, tissue seal. This can yieldundesirable consequences particularly if the grasped tissue includes ablood vessel.

FIG. 193 is a logic flow diagram of a process 60580 depicting a controlprogram or a logic configuration for addressing situations where poweravailable to apply in a tissue treatment cycle is less than the powerrequirements for an effective tissue seal. In certain instances, theprocess 60580 can be implemented by the surgical instrument 60000, forexample. The process 60580 can be executed by a control circuit 760. Incertain instances, the memory circuit 68008 stores machine-executableinstructions that, when executed by the processor 68002, cause theprocessor 68002 to execute machine instructions to implement the process60580, for example.

In the illustrated example, the process 60580 includes detecting 60581 atissue parameter of a tissue grasped by an end effector such as, forexample, the end effector 60502, and determining based on the measuredtissue parameter if 60582 available power is sufficient to yield aneffective tissue seal via a tissue treatment cycle. In certaininstances, the control circuit 760 is configured to detect 60581 basedon signals from one or more sensors, e.g. current sensors, indicative ofthe tissue parameter. The tissue parameter can be a tissue impedance ora tissue thickness, for example.

In such instances, the control circuit 760 can further be configured toascertain the power required to achieve an effective tissue seal via atissue treatment cycle based on the detected tissue parameter frominformation stored in a storage medium such as, for example, the memorycircuit 68008. The information can be in the form of a database,equation, formula, and/or table relating various values of the tissueparameter to corresponding values of the power requirement. Furthermore,the control circuit 760 can be configured to compare the ascertainedpower requirement to available power to determine whether the availablepower is sufficient to yield an effective tissue seal. In otherinstances, the information stored in the memory circuit 68008 can be inthe form of a range, or a listing, of values of the tissue parametersuitable for achieving an effective tissue seal via the tissue treatmentcycle.

In any event, If 60581 it is determined that the available power issufficient to yield an effective tissue seal, the process 60580authorizes 60583 the tissue treatment cycle with no change. For example,the process 60580 may apply the tissue treatment cycle simultaneously toall portions of the end effector 60502.

If 60582, however, the process 60580 determines that the available poweris insufficient to yield an effective tissue seal via the tissuetreatment cycle, the process 60581 may separately apply 60584 the tissuetreatment cycle in discrete portions of the end effector 60502. Thecontrol circuit 760 may be configured to implement the separateapplication 60584 of the tissue treatment cycle to discrete portions ofthe end effector 60502 by separately activating groups of the segmentedelectrodes of the electrode assemblies 60526, 60527, 60536, 60537 alongthe length of the end effector to separately effect a tissue seal indiscrete portions of the end effector 60502. Accordingly, all of theavailable power will be fully directed to achieving an effective tissueseal at a first tissue portion in a first discrete portion of the endeffector 60502, then at a second tissue portion in a second discreteportion the end effector 60502, and so forth, until all tissue portionsin all discrete portions of the end effector 60502 are treated inaccordance with the tissue treatment cycle.

As discussed supra, the RF energy source 794 is independently connectedto each of the segmented electrodes 60526 a-c, 60527 a-c, 60536 a-b,60537 a-b. Accordingly, the control circuit 760 may cause RF energysource 794 to exclusively activate the segmented electrodes 60526 a,60536 a to apply a tissue treatment cycle to a first tissue portionbetween the segmented electrodes 60526 a, 60536 a yielding an effectivetissue seal of the first tissue portion with an available power lesserthan the power required to achieve an effective tissue seal for all ofthe tissue grasped by the end effector 60502 simultaneously. Then, thecontrol circuit 760 may cause RF energy source 794 to exclusivelyactivate the segmented electrodes 60526 b, 60536 b to apply the tissuetreatment cycle to a second tissue portion between the segmentedelectrodes 60526 b, 60536 b, and so forth until the tissue treatmentcycle is applied to all the tissue grasped by the end effector 60502.

In various aspects, different portions of a tissue grasped by the endeffector 60502 may require different amounts of time for achieving aneffective tissue seal via a tissue treatment cycle. In certaininstances, the amount of time required for achieving an effective tissueseal can be a function of a tissue parameter of the tissue portion suchas, for example, an impedance of the tissue portion. As describedelsewhere herein in greater detail, tissue impedance of a tissue portioncan be detected, for example by a control circuit 760, by causing asub-therapeutic signal to be passed through the tissue portion,receiving measurements from a voltage sensing circuit 924 and thecurrent sensing circuit 914, and dividing the measurements from thevoltage sensing circuit 924, by the corresponding measurements from thecurrent sensing circuit 914, for example.

FIG. 194 is a logic flow diagram of a process 60590 depicting a controlprogram or a logic configuration for balancing different sealing timesfor different tissue portions exposed to a tissue treatment cycle by anend effector. In certain instances, the process 60590 can be implementedby the surgical instrument 60000, for example. The process 60590 can beexecuted by a control circuit 760. In certain instances, the memorycircuit 68008 stores machine-executable instructions that, when executedby the processor 68002, cause the processor 68002 to execute machineinstructions to implement the process 60590, for example.

The process 60590 includes determining 60591 a first sealing timeassociated with applying a tissue treatment cycle to a first portion ofa tissue grasped by the end effector 60502, determining 60592 a secondsealing time associated with applying a tissue treatment cycle to asecond portion of the tissue grasped by the end effector 60502,staggering/coordinating 60593 activation of a first segmented electrodepositioned against the first portion of tissue and a second segmentedelectrode positioned against the second portion of tissue such that thefirst sealing time and the second sealing time are completedconcurrently. In other words, begin the longer sealing time prior to theshorter sealing to ensure a concurrent completion of both sealing times.

Further to the above, determining 60591 the first sealing time anddetermining 60592 the second sealing times can be achieved by measuringa first tissue impedance of the first portion of the tissue andmeasuring a second tissue impedance of the second portion of the tissue.The control circuit 760 may cause segmented electrodes of the endeffector 60502, which are positioned against the first and second tissueportions, to pass sub-therapeutic signals through the first and secondtissue portions for the purposes of determining their tissue impedances.Further, the control circuit 760 can further be configured to ascertaina sealing time of a tissue portion based on its tissue impedance frominformation stored in a storage medium such as, for example, the memorycircuit 68008. The information may include a correlation between tissueimpedance values and corresponding sealing time values, which can be inthe form a database, equation, formula, and/or table relating variousvalues of the tissue impedance to corresponding values of the sealingtime.

In other instances, a process similar in many respects to the process60590, which are not repeated herein for brevity, may stagger/coordinateactivation of the first segmented electrode positioned against the firstportion of tissue and the second segmented electrode positioned againstthe second portion of tissue for other purposes. For example, theprocess may stagger/coordinate the activations to avoid an occurrence ofa particular event in the tissue treatment cycle simultaneously at thefirst tissue portion and the second tissue portion. In certaininstances, the particular event can be a point during the first andsecond sealing times where a maximum power is applied to the first andsecond tissue portions, for example.

Accordingly, the control circuit 760 can be configured to cause the RFenergy source 794 to activate the first segmented electrode prior toactivation of the second segmented electrode. In certain instances,where the first sealing time is greater than the second sealing time,the control circuit 760 can be configured to cause the RF energy source794 to activate the second segmented electrode after completion of themaximum power event by the first segmented electrode, for example. Incertain examples, the maximum power event is defined by a power levelgreater than or equal to a predetermined threshold. In certain examples,the maximum power event is defined by a minimum tissue impedancethreshold.

Further to the above, in various aspects, the control circuit 760 can beconfigured to rapidly alternate activation of segmented electrodes toconcurrently seal different portions of a tissue grasped by the endeffector 60502. For example, the control circuit 760 may cause the RFenergy source 794 to rapidly alternate activation of groups of segmentedelectrodes positioned against different tissue portions, wherein onlyone of the groups is active at any point of time, until a completeapplication of a tissue treatment cycle is achieved in all the tissueportions.

Further to the above, in various aspects, the control circuit 760 can beconfigured to sequentially activate segmented electrodes to sealdifferent portions of a tissue grasped by the end effector 60502. Forexample, the control circuit 760 may cause the RF energy source 794 toactivate a proximal subset of segmented electrodes to apply a tissuetreatment cycle to a proximal portion of the tissue grasped by the endeffector 60502, prior to activation of a distal subset of segmentedelectrodes to apply a tissue treatment cycle to a distal portion of thetissue grasped by the end effector 60502.

FIG. 195 is a logic flow diagram of a process 60200 depicting a controlprogram or a logic configuration for detecting and addressing a shortcircuit during a tissue treatment cycle applied to tissue grasped by theend effector 60502. The process 60200 includes passing 60201 a firstsub-therapeutic signal through a first tissue portion of the tissuegrasped by the end effector 60502, and monitoring 60202 a first tissueimpedance of the first tissue portion based on the first sub-therapeuticsignal. The process 60200 further includes passing 60203 a secondsub-therapeutic signal through a second tissue portion of the tissuegrasped by the end effector 60502, wherein the second tissue portion isdifferent than the first tissue portion. The process 60200 furtherincludes monitoring 60204 a second tissue impedance of the second tissueportion based on the second sub-therapeutic signal. In addition, theprocess 60200 includes adjusting 60205 a first therapeutic signalconfigured to be passed through the first tissue portion based on thefirst tissue impedance, and adjusting 60206 a second therapeutic signalconfigured to be passed through the second tissue portion based on thefirst tissue impedance and the second tissue impedance. Furthermore, theprocess 60200 includes issuing 60207 an alert indicative of a shortcircuit based on the first tissue impedance.

In certain instances, the first tissue portion is proximal to the secondtissue portion. For example, the first tissue portion may be positionedbetween the segmented electrodes 60526 a, 605236 a, while second tissueportion can be positioned between the segmented electrodes 60526 b,60536 b.

FIG. 196 is a graph 60260 representing an interrogation of the firsttissue portion, in accordance with the process 60200. The graph 60260includes multiple graphs depicting time (t) on the X-axis vs sourceelectrode (e.g. 60526 a) active status 60261, return electrode (e.g.segmented electrode 60536 a) active status 60262, power level 60263, andtissue impedance 60264, on the Y-axis. In the illustrated example, thecontrol circuit 760 is configured to cause the RF energy source 794 toselectively activate 60265, 60266 segmented electrodes 60526 a, 60536 aabutting the first tissue portion to pass 60201 the firstsub-therapeutic signal between activated segmented electrodes 60526 a,60536 a, for example. The control circuit 760 is further configured tocause the RF energy source 794 to monitor 60202 the first tissueimpedance curve 60267 of the first tissue portion.

In the illustrated example, the monitored first tissue impedance curve60267 is indicative of a short circuit between segmented electrodes60526 a, 60536 a due to the presence of a metallic object such as, forexample, a previously fired staple in the first tissue portion. Thefirst tissue impedance curve 60267 shows an abnormal, or premature,decrease prior to stopping the first sub-therapeutic signal, which isindicative of the short circuit. In certain instances, a storage mediumsuch as, for example, the memory circuit 68008 stores informationrepresenting an expected tissue impedance in response to asub-therapeutic signal. The information can be in the form of one ormore curves, tables, databases, equations, or any suitable medium. Adeviation from the expected tissue impedance, as shown in the curve60267 indicates a short circuit.

Further to the above, the control circuit 760 may be configured tosimilarly interrogate the second tissue portion abutting segmentedelectrodes 60526 b, 60536 b. In addition, the control circuit 760 maycause the RF energy source 794 to adjust a first therapeutic signalconfigured to be passed between the segmented electrodes 60526 a, 60536a, and a second therapeutic signal configured to be passed between thesegmented electrodes 60526 b, 60536 b, to address the detected shortcircuit.

In certain instances, adjusting the first therapeutic signal includes areduction in a power parameter of the first therapeutic signal. Incertain instances, adjusting the first therapeutic signal includesreducing the first therapeutic signal to a sub-therapeutic level. Inother instances, adjusting the first therapeutic signal includesreducing the first therapeutic signal to a tissue warm-up only level. Inother instances, adjusting the first therapeutic signal comprisesdeactivating at least one of the segmented electrodes 60526 a, 60536 a.

In certain instances, adjusting the second therapeutic signal includesany modification suitable for extending a thermal effect of the secondtherapeutic signal to the first tissue portion to compensate for thedecrease in the power parameter of the first therapeutic signal. Incertain instances, adjusting the second therapeutic signal includes anincrease in a power parameter of the second therapeutic signal. In otherinstances, adjusting the second therapeutic signal includes an increasein the time the second therapeutic signal is applied to the tissue,which can be at the same voltage, or at a lower voltage. In otherinstances, the second therapeutic signal is adjusted to cause anover-sealing of the second tissue portion, in response to the shortcircuit associated with the adjacent first tissue portion.

In various instances, the adjustments to the first and secondtherapeutic signals are performed in accordance with predeterminedtissue treatment cycles stored in a storage medium such as, for example,the memory circuit 68008. The control circuit 760 may, in response todetecting the short circuit between the segmented electrodes 60526 a,60526 a, select a tissue treatment cycle with first and secondtherapeutic signals adjusted, as described supra, for addressing theshort circuit situation.

In various instances, the control circuit 760 may respond to thedetection of the short circuit by causing the RF energy source 794 toactively cycle both source and return segmented electrodes to sealaround the tissue portion with a detected short circuit. Furthermore,various neighboring segmented electrodes can also be utilized in offsetand/or opposing energy delivery modes to seal around the tissue portionwith a detected short circuit including activation/cycling surroundingelectrode segments in crisscross configurations, for example. In certaininstances, depending on a location of short circuit, the control circuit760 may cause the RF energy source 794 to selectively activate specificsegmented electrodes as source electrodes, and simultaneously activatingothers as return electrodes. Such activations can be cycled oralternated to achieve an effective seal of the entire tissue grasped bythe end effector 60502, while avoiding the location of the detectedshort circuit.

Electrical arcing is a phenomenon that may occur during application of asealing energy to a tissue grasped by an end effector 60502, forexample. In certain instances, the presence of a metallic object such aspreviously-fired staples adjacent active segmented electrodes may yieldelectrical arcing. The efficacy of a tissue treatment cycle can benegatively influenced by electrical arcing due to a diversion/leap ofthe sealing energy away from the intended tissue target. The energydiversion may also cause unintended injury to neighboring tissue. Invarious instances, the ability of the control circuit 760 to separatelycontrol activation, deactivation, and polarity of each of the segmentedelectrodes 60526 a-c, 60527 a-c, 60536 a-b, 60537 a-b further allows thecontrol circuit 760 to manage an arcing event (predicted and/or active)in a localized manner by selectively adjusting various parameters ofsegmented electrodes near the arcing event, for example. In certaininstances, the adjusted parameters are power parameters. In certaininstances, the control circuit 760 may selectively cause the RF energysource 794 to reduce the voltage across selected pairs of the segmentedelectrodes 60526 a-c, 60527 a-c, 60536 a-b, 60537 a-b to address anarcing event.

In situations where an active arc has occurred, for example due to thepresence of an adjacent metallic object such as previously-firedstaples, the control circuit 760 can be configured to respond byexclusively deactivating the segmented electrodes responsible for thearcing event. Then, the deactivated segmented electrodes can bereactivated to complete a tissue treatment cycle after adjustments aremade to the gap between the affected segmented electrodes and/or thevoltage level. In certain instances, voltage levels can be reduced,while increasing the tissue treatment time, to still achieve aneffective tissue seal with the reduced voltage. In various aspects, thecontrol circuit 760 is configured to employ a sub-therapeutic signal totest if the power and/or gap adjustments are effective at avoidingrecurrence of arcing, prior to restarting the tissue treatment cycle.

In various instances, a control circuit 760 is configured to address anarcing event by increasing an overall tissue gap between jaws of the endeffector 60502, for example. However, to ensure an effective sealing thetissue with an increased tissue gap, the control circuit 760 may furtherincrease at least one of a power parameter, for example voltage, or asealing time of the tissue. The increased power parameter and/or theincreased sealing time can be limited to selected pairs of the segmentedelectrodes 60526 a-c, 60527 a-c, 60536 a-b, 60537 a-b, for example.

In various instances, the control circuit 760 can be configured todetect an arcing event by analyzing imaging data of the end effector60502 during a tissue treatment cycle. Additionally, or alternatively,the arcing event can be detected through a clinician input via thedisplay 711, for example. Additionally, or alternatively, the arcingevent can be detected by monitoring one or more parameter of the RFenergy source 794, for example. Additionally, or alternatively, thearcing event can be detected by monitoring tissue temperature during thetissue treatment cycle via temperature sensors in the end effector60502, for example. A deviation from an expected correlation between theenergy supplied to the tissue portion and the temperature of the tissueportion can indicate an arcing event associated with segmentedelectrodes configured to supply energy to the tissue portion.

In various instances, the ability of the control circuit 760 toseparately control activation, deactivation, and polarity of each of thesegmented electrodes 60526 a-c, 60527 a-c, 60536 a-b, 60537 a-b furtherallows the control circuit 760 to manage capacitive coupling issueswhich may occur within the shaft of the surgical instrument 60000. Incertain instances, the capacitive coupling may result in reducing powersupply to the end effector 60502, for example.

The reduction may render available power ineffective in simultaneouslyapplying a tissue treatment cycle to an entire tissue grasped by the endeffector 60502. In response, the control circuit 760 can be configuredto separately apply the tissue treatment cycle to portions of thegrasped tissue. This can be achieved, for example, by selectivelyactivating subsets of the segmented electrodes of the end effector60502, one subset at a time, to separately apply the tissue treatmentcycle to the tissue portions.

For example, a first subset (e.g. proximal subset) of the segmentedelectrodes of the end effector 60502 can be activated to apply thetissue treatment cycle to a first portion (e.g. proximal portion) of thegrasped tissue. The first subset is then deactivated, and a secondsubset (e.g. distal subset positioned distally with respect to theproximal subset) can be activated to apply the tissue treatment cycle toa second portion (e.g. distal portion positioned distally with respectto the proximal portion) of the tissue.

In other instances, the control circuit 760 can be configured to addressa reduction in power supply by alternating activation of the subsets ofthe segmented electrodes. In such instances, only one subset of thesegmented electrodes is activated at each point of time. In otherinstances, the control circuit 760 can be configured to address areduction in power supply by selecting a different tissue treatmentcycle, for example one with a reduced power requirement and an increasedsealing time.

In various instances, the ability of the control circuit 760 toseparately control activation, deactivation, and polarity of each of thesegmented electrodes 60526 a-c, 60527 a-c, 60536 a-b, 60537 a-b furtherallows the control circuit 760 to dynamically adjust energy modalitiesin a tissue treatment cycle applied to a tissue grasped by the endeffector 60502. The different energy modalities can be applied todifferent tissue portions, or can be applied to the same tissue portion,or the entire grasped tissue, in a predetermined sequence. In certaininstances, the control circuit 760 is configured to selectively activateone or more segmented electrodes to apply a monopolar energy modality, abipolar energy modality, and/or a combination, or blended,bipolar/monopolar energy modality to a tissue portion abutting theactivated segmented electrodes.

Further to the above, a number of factors can be considered in theenergy modality selection by the control circuit 760 including, but notlimited to, closure load response, the percentage of jaw closure, tissueimpedance, tissue location and/or type, and/or the presence of a shortcircuit. In certain instances, detecting a blood vessel may cause thecontrol circuit 760 to select the bipolar modality. In certaininstances, detecting a tissue thickness beyond a predeterminedthreshold, for example, may cause the control circuit 760 to select atissue treatment cycle with an initial bipolar energy modality, toreduce the thickness of the tissue, an intermediate monopolar energymodality to increase the sealing speed, and then a final bipolar energymodality to complete the tissue seal.

Further to the above, if a short circuit is detected, due for example tothe presence of a previously-fired staple, the control circuit 760 canbe configured to select a tissue treatment cycle with a bipolar energymodality, and a monopolar energy modality, especially modified toaddress the short circuit. Further, the control circuit 760 can beconfigured to selectively apply the bipolar energy modality only to asubset of the segmented electrodes that are not affected by the detectedshort circuit, and then apply the monopolar energy modality to all thesegmented electrodes. For example, the control circuit 760 may cause theRF energy source 794 to deactivate the segmented electrodes where theshort circuit is detected, and then apply the bipolar energy modality tothe remaining segmented electrodes. Next, the control circuit 760 maycause the RF energy source 794 to reactivate the previously-deactivatedsegmented electrodes for application of the monopolar energy modality tothe tissue.

FIGS. 197-203 illustrate a number of energy profiles, or therapeuticsignals, 60300, 60310, 60320, 60330, 60340, 60350, 60360 depicted ingraphs representing Tissue impedance, Voltage, Power, and Current curvesassociated with application of the therapeutic signals 60300, 60310,60320, 60330, 60340, 60350, 60360 to tissue grasped by the end effector60502, for example. It is understood that the therapeutic signals 60300,60310, 60320, 60330, 60340, 60350, 60360 are for illustrative purposesonly and, as such, are not limiting. Other high, medium, and low energyprofiles can be utilized in tissue treatment cycles effected by thecontrol circuit 760. In certain instances, two or more of thetherapeutic signals 60300, 60310, 60320, 60330, 60340, 60350, 60360 canbe delivered to different tissue portions in different zones along alength of the end effector 60502 in a tissue treatment cycle effected bythe control circuit 760. The different zones can be defined by differentsubsets of the segmented electrodes 60526 a-c, 60527 a-c, 60536 a-b,60537 a-b.

In certain instances, the two or more of the therapeutic signals 60300,60310, 60320, 60330, 60340, 60350, 60360 can be delivered simultaneouslyin the different zones in a tissue treatment cycle. In certaininstances, the different zones include a proximal zone and a distalzone. In other instances, the different zones include a proximal zone,one or more intermediate zones, and a distal zone.

In various instances, various parameters of the therapeutic signals60300, 60310, 60320, 60330, 60340, 60350, 60360 can be stored in astorage medium such as, for example, the memory circuit 68008, which canbe accessed to implement a tissue treatment cycle, for example. Thecontrol circuit 760 can be configured to select one or more of thetherapeutic signals 60300, 60310, 60320, 60330, 60340, 60350, 60360 forexecution in a tissue treatment cycle applied to one or more zones ofthe end effector 60502 based on one or more conditions of the graspedtissue in the one or more zone including tissue thickness, tissue type,tissue location, and/or tissue impedance, for example.

Referring primarily to FIGS. 1 and 155, a surgical instrument (e.g.surgical instruments 1000, 60000) can include an end effector (e.g. endeffectors 1300, 60002, 60502). One or motor assemblies can be motivatedby a control circuit (e.g. control circuit 760) to effect one or morefunctions/motions of the end effector including closure of the jaws,firing of the staples, and/or rotation and/or articulation of the endeffector about a central longitudinal axis (e.g. axis 60005) of thesurgical instrument. Various mechanisms for articulation, rotation,closure, and firing of an end effector are described in greater detailselsewhere in the present disclosure, and are not repeated herein forbrevity.

In various aspects, the control circuit 760 can be configured to causeone or more motor assemblies to effect various rotation and/orarticulation motions of an end effector (e.g. end effectors 1300, 60002,60502) in response to inputs from a clinician to align the jaws of theend effector with respect to a tissue. The clinician may then positionone of the jaws behind the tissue. Further, the control circuit 760 canalso be configured to cause one or more motor assemblies to motivate thejaws to grasp the tissue in a closure motion, in response to anotherclinician input. In certain instances, closure of the jaws can bereversed multiple times until a satisfactory tissue bite is achieved. Atsuch point, the control circuit 760 can be configured to cause a firingdriver such as, for example, the I-beam 764 to be advanced distally tofire staples stored in staple cavities of a staple cartridge into thegrasped tissue.

In certain instances, the clinician may elect to perform additionalrotational adjustments of the end effector in the vicinity of the tissuesuch as, for example, prior to end effector closure, during end effectorclosure, and following end effector closure. In certain instances, theclinician may elect to perform additional rotational adjustments of theend effector after a successful end effector closure, or tissue bite,has been achieved by prior to applying a therapeutic energy to thetissue, or prior to firing staples into the tissue. The additionalrotational adjustments can be fine rotational adjustments with differentrotational parameters than standard rotational adjustments to protectthe tissue and/or aid less-experienced clinicians.

FIG. 204 is a logic flow diagram of a process 60400 depicting a controlprogram or a logic configuration for adjusting a parameter of rotationof an end effector of a surgical instrument based on whether a tissue isbeing grasped by the end effector as determined based on at least oneimpedance measurement, in accordance with at least one aspect of thepresent disclosure. In various instances, the process 60400 can beimplemented by any suitable surgical instrument such as, for example,surgical instruments 1000, 60000 including any suitable end effectorsuch as, for example, end effectors 1300, 60002, 60502. However, forbrevity, the following description of the process 60400 will focus onits implementation in the surgical instrument 60000 and the end effector60502, for example. In certain instances, the memory 68008 storesprogram instructions that, when executed by the processor 68002, causethe processor 68002 to perform one or more aspects of the process 60400.

The process 60400 includes causing 60401 a sub-therapeutic signal to beprovided to the end effector 60502. For example, the control circuit 760may cause the RF energy source 794 to attempt to pass a sub-therapeuticsignal between the electrode assemblies 60526, 60536. The process 60400further includes determining 60402 an impedance between the electrodeassemblies 60526, 60536 in response to the sub-therapeutic signal toassess whether tissue is being grasped by the end effector 60502. Theprocess 60400 further includes selecting 60403 a parameter of rotationof the end effector based on at least one impedance measurement. Theparameter of rotation of the end effector includes rotation speed,rotation distance, rotation direction, and/or rotation time, forexample.

As described elsewhere herein in greater detail, the control circuit 760is configured to determine 60402 the impedance between the electrodeassemblies 60526, 60536, in response to the sub-therapeutic signal,based on measurements from a voltage sensing circuit 924 and the currentsensing circuit 914, for example. The control circuit 760 can beconfigured to divide the measurements from the voltage sensing circuit924, by the corresponding measurements from the current sensing circuit914, for example, to determine the impedance.

Further to the above, the control circuit 760 can be configured toselect 60403 a parameter of rotation of the end effector 60502 based ona comparison of the impedance measurement to a predetermined threshold.The impedance measurements can be indicative of the presence or absenceof tissue in contact with the end effector 60502. The control circuit760 can be configured to detect an absence of tissue if the impedancemeasurement is greater than, or equal, to a predetermined threshold, forexample due to an open circuit. On the contrary, the control circuit 760can be configured to detect a presence of tissue if the impedancemeasurement is below the predetermined threshold. In certain instances,the predetermined threshold can be stored in a storage medium such as,for example, the memory circuit 68008, and can be utilized by theprocessor 68002 to determine whether tissue is in contact with the endeffector 60502.

Further to the above, selecting 60403 a parameter of rotation of the endeffector 60502 can include selecting a speed of rotation, or a distanceof rotation of the end effector 60502. In certain instances, selecting60403 a parameter of rotation of the end effector 60502 comprisesselecting between a first rotational profile and a second rotationalprofile. The first and second rotational profiles can be stored in astorage medium such as, for example, the memory circuit 68008. Thecontrol circuit 760 can be configured to select the first rotationalprofile in the absence of tissue, and the first rotational profile inthe absence of tissue, as determined based on the comparison of theimpedance measurements and the predetermined threshold.

Further to the above, the first rotational profile may include a firstspeed of rotation greater than a second speed of rotation of the secondrotational profile. In certain examples, the first speed of rotation maybe a maximum speed of rotation. In certain example, the second speed ofrotation can be a percentage of the first speed of rotation. Thepercentage can, for example, be selected from a range of about 1% toabout 50%. In certain instances, the first rotational profile comprisesa greater initial acceleration to a predetermined speed of rotation thanthe second rotational profile.

In certain instances, the first rotational profile may include a firstdistance of rotation greater than a second distance of rotation of thesecond rotational profile. In certain examples, the first distance ofrotation may be a maximum distance of rotation. In certain example, thesecond distance of rotation can be a percentage of the first distance ofrotation. The percentage can, for example, be selected from a range ofabout 1% to about 50%.

In certain instances, selecting 60403 a parameter of rotation of the endeffector 60502 includes selecting a parameter of the power supplied to amotor to effect the rotation of the end effector 60502. As describedelsewhere herein in greater detail, a motor assembly may include a motorand a motor control circuit configured to supply power to the motor inaccordance with power parameters selected by the control circuit 760,for example. The motor can be configured to cause a rotation of theshaft 60004 and the end effector 60502 relative to the housing assembly60006, for example.

In certain instances, current supplied to the motor by the motor controlcircuit can be selected based on the impedance measurement. The controlcircuit 760 can be configured to select a first current in the absenceof tissue and a second current in the presence of tissue, wherein thefirst current is greater than the second current.

In certain instances, the second current comprises a value of zero.Accordingly, the control circuit 760 can be configured to deactivate themotor to seize all rotational motions if tissue is detected between thejaws of the end effector 60502.

Further to the above, if tissue is no longer detected, based onimpedance measurements, the control circuit 760 can be configured toreadjust the power parameter of the motor. For example, the controlcircuit 760 can be configured to reselect the first current, or reselectthe first rotational profile.

In other embodiments, as illustrated in FIG. 204, the parameter ofrotation of the end effector 60502 can be selected 60405 based on aclosure state of the end effector 60502 in addition to impedancemeasurements. Alternatively, the parameter of rotation of the endeffector 60502 can be selected solely based on a closure state of theend effector 60502.

In certain examples, the parameter of rotation of the end effector 60502is adjusted to different values associated with different closurestates. For example, the control circuit 760 can be configured to selecta first value for the parameter of rotation of the end effector 60502for a fully-open state, select a second value for the parameter ofrotation of the end effector 60502 for a partially-open state, and/orselect a select a third value for the parameter of rotation of the endeffector 60502 for a fully-closed state. In certain instances, the firstvalue is greater than the second value, and the second value is greaterthan third value.

The closure state of the end effector 60502 can be detected 60404 by thecontrol circuit 760 based on sensor signals of one or more sensors. Forexample, sensor signals from the position sensor 784 (FIG. 163) can beindicative of the position of a drive member (e.g. I-beam 764 or closuredrive 3800) movable by the motor 754 to effect a closure of the endeffector 60502. The position of the drive member can be correlated tothe different closure states of the end effector 60502. Other sensors788 (FIG. 163) can also be utilized by the control circuit 760 todetermine the closure states of the end effector 60502 such as, forexample, sensors configured to detect the gap between the jaws of theend effector 60502.

In other embodiments, the parameter of rotation of the end effector60502 can be selected based on a closure load of the end effector 60502instead of tissue impedance, or in addition to tissue impedance. Incertain examples, the parameter of rotation of the end effector 60502 isadjusted to different closure loads. For example, the control circuit760 can be configured to select a first value for the parameter ofrotation of the end effector 60502 for a first closure load, select asecond value for the parameter of rotation of the end effector 60502 fora second closure load, and/or select a select a third value for theparameter of rotation of the end effector 60502 for a third closureload. In certain instances, the third closure load is greater than thesecond closure load which is greater than the first closure load. Insuch instances, the third value is less than the second value, and thesecond value is less than first value. In various instances, the controlcircuit 760 is configured to detect a closure load of the end effector60502 based on current draw by the motor effecting the closure load. Acurrent sensor 786 can be configured to measure the current draw of themotor.

In other embodiments, as illustrated in FIG. 204, the parameter ofrotation of the end effector 60502 can be selected 60408 based on afiring state of the end effector 60502 in addition to impedancemeasurements. Alternatively, the parameter of rotation of the endeffector 60502 can be selected solely based on a firing state of the endeffector 60502. In certain examples, the parameter of rotation of theend effector 60502 is adjusted to different values associated withdifferent firing states. For example, the control circuit 760 can beconfigured to select a first value for the parameter of rotation of theend effector 60502 for an unfired state, select a second value for theparameter of rotation of the end effector 60502 for a partially-firedstate, and/or select a select a third value for the parameter ofrotation of the end effector 60502 for a fully-fired state. In certaininstances, the first value is greater than the second value. In certaininstances, the third value is greater than the second value.

The firing state of the end effector 60502 can be detected 60404 by thecontrol circuit 760 based on sensor signals of one or more sensors. Forexample, sensor signals from the position sensor 784 (FIG. 163) can beindicative of the position of a drive member (e.g. I-beam 764) movableby the motor 754 to effect a firing of the staples from the end effector60502. The position of the drive member can be correlated to thedifferent firing states of the end effector 60502.

In various instances, tissue impedance measurements of a tissue graspedby the end effector 60502, as described supra in connection with theprocess 60400 of FIG. 204, can be useful in assessing tissue tensioncause by over-rotation, or unintended rotation, of the end effector60502. A rotation of the end effector 60502 about the longitudinal axis60005 increases tension on a first tissue portion on a first side of thelongitudinal slot 60535, while reducing tension on a second tissueportion on a second side, opposite the first side, of the longitudinalslot 60535. Consequently, a first tissue thickness of the first tissueportion may be reduced, while a second tissue thickness of the secondtissue portion may be increased. Furthermore, the changes in tissuethickness may be accompanied by changes in tissue impedances of thefirst and second tissue portions due to a change in the fluid content ofthe tissue portions.

FIG. 205 is a logic flow diagram of a process 60600 depicting a controlprogram or a logic configuration for adjusting a parameter of rotationof an end effector of a surgical instrument based a detectedover-rotation of the end effector, in accordance with at least oneaspect of the present disclosure. In various instances, the process60600 can be implemented by any suitable surgical instrument such as,for example, surgical instruments 1000, 60000 including any suitable endeffector such as, for example, end effectors 1300, 60002, 60502.However, for brevity, the following description of the process 60600will focus on its implementation in the surgical instrument 60000 andthe end effector 60502, for example. In certain instances, the memory68008 stores program instructions that, when executed by the processor68002, cause the processor 68002 to perform one or more aspects of theprocess 60600.

The process 60600 includes measuring 60601 a first tissue parameter of afirst tissue portion on a first side of a longitudinal slot of an endeffector, measuring 60602 a second tissue parameter of a second tissueportion on a second side of the longitudinal slot of the end effector,adjusting 60603 a parameter of rotation of the end effector based on arelation between the first tissue parameter and the second tissueparameter. The first and second tissue parameters can, for example, betissue impedance, or tissue thickness.

The control circuit 760 can be configured to monitor tissue impedance ofthe first tissue portion and the second tissue portion grasped by theend effector 60502. For example, the control circuit 760 may cause theRF energy source 794 to pass sub-therapeutic signals between theelectrode assemblies 60526, 60536 and between the electrode assemblies60527, 60537. The control circuit 760 may then calculate a first tissueimpedance of the first tissue portion and a second tissue impedance ofthe second tissue portion, based on the sub-therapeutic signals.Furthermore, the control circuit 760 can be configured to adjust aparameter of rotation of the end effector 60502 based on the differencebetween the first and second tissue impedances. In certain examples, thecontrol circuit 760 can be configured to slow, deactivate, or reverse,end effector rotation if the difference between the first and secondtissue impedances is greater than or equal to a predetermined threshold.

Further to the above, various adjustments can be made to one or moreparameters of rotation of the end effector 60502 include a rotationalposition, rotational distance, a rotational speed, a rotational time,and/or a rotational direction to avoid, or mitigate, a detectedobstacle. In various aspects, a control circuit 760 can be configured toadjust a parameter of rotation of the end effector 60502 in response todetecting a rotation obstacle. The control circuit 760 can be configuredto detect a rotation obstacle if a current draw of the motor effecting arotation of the end effector 60502 is greater than, or equal to apredetermined threshold, for example.

In various aspects, the control circuit 760 can be configured to performa predictive analysis to assess whether a previously-detected obstaclewill be reached based on a requested movement by the clinician.Furthermore, the control circuit 760 may be configured to issue analert, for example through the display 711, and/or seize furtherrotation of the end effector 60502, if it is determined that therequested movement will cause the end effector to reach the obstacle. Incertain instances, the a previously-detected obstacle can be in the formof a system constraint such as, for example, a maximum rotation angle,which can be a predetermined maximum rotation angle that will bereached, or exceeded, if the requested movement is complied with.

Referring primarily to FIG. 189, the end effector 60502 is can beconfigured to apply a hybrid tissue treatment cycle to a tissue graspedbetween the cartridge 60530 and the anvil 60520. The hybrid tissuetreatment cycle includes an RF energy phase and a stapling phase, whichcan be applied separately, or sequentially, to tissue portions along alength of the end effector 60502. In the hybrid tissue treatment cycle,RF energy can be applied to the grasped tissue by the electrodeassemblies 60526, 60527, 60536, 60537. An RF energy zone may becooperatively defined by segmented electrodes of the electrodeassemblies 60526, 60527, 60536, 60537, for example. Further, the hybridtissue treatment cycle also includes deploying staples into the graspedtissue from rows of staple cavities 60531, 60532, which are deformed byrows of staple pockets 60521, 60522. A stapling zone may becooperatively defined by staple cavities 60531, 60532 and correspondingstaple pockets 60521, 60522. In the instance of the end effector 60502,the RF zone is laterally surrounded by portions of the stapling zone dueto the arrangement of the electrode assemblies 60526, 60527, 60536,60537, the rows of staple cavities 60531, 60532 and rows of staplepockets 60521, 60522.

FIG. 206 is a logic flow diagram of a process 60700 depicting a controlprogram or a logic configuration for cooperatively applying the RFenergy phase and the stapling phase to tissue portions of a tissuegrasped by an end effector 60502, for example, in a hybrid tissuetreatment cycle. In certain instances, the RF energy phase may beutilized to mitigate, counterbalance, compensate for, and/or offsetdefects in the stapling phase. In other instances, the stapling phasemay be utilized mitigate, counterbalance, compensate for, and/or offsetdefects in the RF energy phase.

In various instances, the process 60700 can be implemented by anysuitable surgical instrument such as, for example, surgical instruments1000, 60000 including any suitable end effector such as, for example,end effectors 1300, 60002, 60502. However, for brevity, the followingdescription of the process 60700 will focus on its implementation in thesurgical instrument 60000 and the end effector 60502, for example. Incertain instances, the memory 68008 stores program instructions that,when executed by the processor 68002, cause the processor 68002 toperform one or more aspects of the process 60700.

In the illustrated example, the process 60700 includes detecting 60701 atissue parameter. The tissue parameter can, for example, be a tissuethickness of the tissue grasped by the end effector 60502. The process60700 further includes detecting 60702 a cartridge parameter. Thecartridge parameter can be a staple height of staples stored in the rowsof staple cavities 60531, 60532 of the end effector 60502, for example.In addition, the process 60700 includes selecting 60703 aradio-frequency (RF) energy treatment for sealing the tissue based onthe cartridge parameter and the tissue parameter.

The process 60700 may utilize the RF energy phase to compensate for adiscrepancy between a tissue thickness of a tissue grasped by the endeffector 60502, for example, and a staple height of the cartridge 60530,for example. The discrepancy may arise when the grasped tissue isthicker than can be successfully accommodated by the staple height ofthe cartridge 60530. In such instances, the RF energy phase can beutilized to thin the grasped tissue—through warming or drying out beyondan RF zone of the end effector 60502 and into a tissue stapling zone ofthe end effector 60502—to yield a tissue thickness that can besuccessfully accommodated by the staple height of the cartridge 60530.

In other embodiments, the discrepancy between the tissue thickness andthe staple height may arise when the grasped tissue is thinner than canbe successfully stapled the cartridge 60530 due to the staple heightbeing too tall. Consequently, the formed staples may not be able toapply sufficient compression to effectively seal the tissue. In suchinstances, the RF energy phase can be adjusted to expand a thermalspread through the tissue beyond the RF zone, and into the stapling tosupport energy sealing of tissue portions where staples will be too tallto effectively seal the tissue. Alternatively, in instances wherethermal spread beyond the RF zone may reduce the thickness of thegrasped tissue below what can be successfully stapled, the RF energyphase can be adjusted to minimize, or prevent, a thermal spread beyondthe RF zone.

In various instances, adjusting the thermal spread can be achieved byadjusting one or more parameters of the RF energy phase such as, forexample, power level and/or activation time of the RF energy. In certaininstances, adjusting parameters of the RF energy phase can be applied toindividual segmented electrodes, or subsets of segmented electrodes, ofthe electrode assemblies 60526, 60527, 60536, 60537.

In certain instances, the tissue thickness can be determined based ontissue impedance, for example. As described supra, the control circuit760 can be configured to determine tissue impedance by causing the RFenergy source 794 to pass one or more sub-therapeutic signals throughthe grasped tissue, utilizing for example the electrode assemblies60526, 60527, 60536, 60536. The tissue thickness can then be determinedbased on a correlation between tissue impedance and tissue thickness,which can be stored in a storage medium such as, for example, the memorycircuit 86006. The correlation can be stored in any suitable formincluding a table, equation, or database, for example. In otherembodiments, the tissue thickness can be determined by measuring a gapbetween the cartridge 60530 and the anvil 60520 abutting the graspedtissue. The gap can be measured by one or more of the sensors 788, forexample, and is representative of the tissue thickness.

In certain instances, staple height, and other parameters of thecartridge 60530 can be stored in a storage medium such as, for example,a memory circuit, which can locally reside on, or within, the cartridge60530. The control circuit 760 can be configured to interrogate thestorage medium of the cartridge 605030 to detect 60702 the cartridgeparameter.

In certain embodiments, the stapling phase of a hybrid tissue treatmentcycle may be utilized to mitigate, counterbalance, compensate for,and/or offset defects in the RF energy phase, for example. FIG. 207 is alogic flow diagram of a process 60710 depicting a control program or alogic configuration for cooperatively applying the RF energy phase andthe stapling phase to tissue portions of a tissue grasped by an endeffector 60502, for example, in a hybrid tissue treatment cycle.

In various instances, the process 60710 can be implemented by anysuitable surgical instrument such as, for example, surgical instruments1000, 60000 including any suitable end effector such as, for example,end effectors 1300, 60002, 60502. However, for brevity, the followingdescription of the process 60710 will focus on its implementation in thesurgical instrument 60000 and the end effector 60502, for example. Incertain instances, the memory 68008 stores program instructions that,when executed by the processor 68002, cause the processor 68002 toperform one or more aspects of the process 60710.

In the illustrated example, the process 60710 includes applying 60711 atherapeutic energy to a tissue grasped by an end effector 60502, forexample, to seal the tissue in an RF phase of a hybrid tissue treatmentcycle. The control circuit 760 can be configured to cause the RF energysource 794 to activate segmented electrodes of one or more of theelectrode assemblies 60526, 60527, 60536, 60536 to apply the therapeuticenergy to one or more tissue portions of the grasped tissue, inaccordance with predetermined parameters of the hybrid tissue treatmentcycle.

Further to the above, the process 60710 includes detecting 60712 atissue sealing inconsistency in the grasped tissue. The tissue sealinginconsistency can be an inadequate tissue seal due, for example, to ashort circuit, which can result from the presence of a previously-firedstaple. In certain examples, the control circuit 760 can be configuredto cause the RF energy source 794 to pass one or more interrogationsignals, which can be in the form of sub-therapeutic signals, throughdifferent tissue portions of the grasped tissue to detectinconsistencies in the tissue seal. The sub-therapeutic signals can bepassed between pairs of segmented electrodes of the electrode assemblies60526, 60527, 60536, 60536, for example. Tissue impedance of thedifferent tissue portions can be determined following the RF energyphase. Since an inadequate tissue seal comprises different tissueimpedance characteristics than those associated with an adequate seal,detecting tissue seal inconsistencies in the tissue portions can beachieved by comparing determined tissue impedance of such portions to apredetermined threshold, for example.

Further to the above, the process 60700 may include adjusting 60713 astapling parameter to compensate for the tissue sealing inconsistencies.In certain instances, adjusting the stapling parameter includesadjusting a tissue gap between the cartridge 60530 and an anvil 60520.In certain instances, adjusting the stapling parameter includesadjusting a tissue compression of the grasped tissue, or a closure loadof the end effector, for example. The control circuit 760 may beconfigured to cause a motor assembly to increase or decrease the closureload applied to the end effector by a closure driver such as, forexample, the I-beam 764, or closure drive 3800 in instances whereclosure and firing are driven separately.

In certain instances, adjusting the stapling parameter includesadjusting a staple height of formed staples of the cartridge 60530. Incertain instances, adjusting the stapling parameter includes adjusting afiring speed for fine tuning the formed-staple height. The controlcircuit 760 may be configured to cause a motor assembly to increase ordecrease the speed of a firing driver (e.g. I-beam 764) to adjust theformed-staple height to compensate for the tissue sealinginconsistencies.

In one example, the control circuit 760 can be configured to detect aninadequate seal in a first tissue portion between segmented electrodes60536 a, 60526 a, for example, based on a comparison of the first tissueimpedance to a predetermined threshold, or threshold range. The firsttissue impedance can be measured by passing a first sub-therapeuticsignal between the segmented electrodes 60536 b, 60526 c. Further, thecontrol circuit 760 can be also configured to detect an adequate seal ina second tissue portion between segmented electrodes 60536 b, 60526 c,for example, based on a comparison of the second tissue impedance to thepredetermined threshold, or threshold range. The second tissue impedancecan be measured by passing a second sub-therapeutic signal between thesegmented electrodes 60536 b, 60526 c.

Furthermore, the control circuit 760 can be configured to select afiring speed of the firing driver (e.g. I-beam) in a tissue portionbased on adequacy of the tissue seal in the tissue portion. Accordingly,the control circuit 760 can be configured to select a first firing speedof the firing driver (e.g. I-beam) in the first tissue portion with theinadequate tissue seal, and a second firing speed of the firing driver(e.g. I-beam) in the second tissue portion with the adequate tissueseal, wherein the first firing speed is less than the second firingspeed, for example. In certain instances, the control circuit 760 can beconfigured to pause firing of the staple at a tissue portion with aninadequate tissue seal.

In various aspects, a hybrid tissue treatment cycle can be applied todiscrete tissue portions of a tissue grasped by an end effector 60502 byalternating between the RF energy phase and the stapling phase. The RFenergy phase may lead the stapling phase to avoid circuit shortingconditions, which may occur if there are staples in the tissue duringapplication of the RF energy phase. In other words, the stapling phasemay follow the RF energy phase.

In certain instances, the RF energy is applied to a proximal tissueportion, for example a tissue portion between the electrode assemblies60536 a, 60526 a. Then, staples are fired from rows of staple cavities60221, 60222 into the proximal tissue portion by advancing the firingdriver through the first tissue portion. The firing driver is thenpaused until the RF energy is applied to a proximal tissue portion, forexample a tissue portion between the electrode assemblies 60536 b, 60526b. Following application of the RF energy to the second tissue portion,the movement of the firing driver is reactivated to advance the firingdriver through the second tissue portion thereby firing staples fromrows of staple cavities 60231, 60232 into the second tissue portion.Alternating between the RF phase and the stapling phase can be repeatedfor additional tissue portions until all the tissue portions of thegrasped tissue are treated.

Referring now to FIGS. 208-210, a surgical instrument 60000′ isconfigured to seal tissue using a combination of energy and staplingmodalities or phases. The surgical instrument 60000′ is similar in manyrespects to other surgical instruments such as, for example, thesurgical instruments 1000, 60000, which are not repeated herein forbrevity. For example, the surgical instrument 60000′ includes an endeffector 60002′, the articulation assembly 60008, the shaft assembly60004, and the housing assembly 60006.

Further to the above, the surgical instrument 60000′ mainly differs fromthe surgical instrument 60000 in the electrical wiring associated withthe electrode assembly 60036. The surgical instrument 60000′ compriseselectrical wiring that defines two separate RF return paths 60801, 60802for the electrode assembly 60036, while in the surgical instrument 60000comprises electrical wiring that defines a single RF return path 60801for the electrode assembly 60036. For brevity, the following descriptionfocuses on the dual RF return paths 60801, 60802 of the surgicalinstrument 60000′.

In the illustrated example, the staple cartridge 60030′ comprises aproximal electrical contact 60803 define in a proximal wall of thestaple cartridge 60030′. A leaf-spring contact 60804 is connected to theproximal electrical contact 60803, when the staple cartridge 60030′ isproperly inserted into the cartridge channel 60040 of the end effector60002′, as best illustrated in FIG. 208. Additional wiring extendsproximally from the leaf-spring contact 60804 to connect the electricalassembly 60036 to proximal electronics such as, for example, the controlcircuit 760 and/or the RF energy source 794.

Further to the above, the RF return path 60801 extends proximally fromthe electrode assembly 60036, from the flex circuit 60041, andpenetrates the cartridge deck 60047 terminating at the proximalelectrical contact 60803. Similarly, the RF return path 60802 extendsproximally from the electrode assembly 60036, from the flex circuit60041, and penetrates the cartridge deck 60047 terminating at theproximal electrical contact 60803. However, the he RF return path 60802comprises a gap 60805 configured to be bridged by an isolated return padof anvil 60020′ of the end effector 60002′, when the end effector 60002′is in a closed, or partially-closed, configuration, as illustrated inFIG. 209.

Accordingly, the RF return path 60802 remains open until the gap 60508is bridged by the isolated return pad of the anvil 60020′. In certaininstances, the RF return paths 60801, 60802 are utilized simultaneously,which ensures adequate connections through redundancy. In otherinstances, the RF return paths 60801, 60802 define separate electricalpathways for separately connecting first and second electrical elementsof the end effector 600, respectively, to proximal electronics such as,for example, the RF energy source 794 and/or the control circuit 760. Insuch instances, the first electrical elements, connected via the firstRF return path 60801, can be activated while the anvil 60020′ remains inan open, or partially open, configuration, while the second electricalelements, connected via the second RF return path 60802, can only beactivated while the anvil 60020′ remains in the closed configuration, asillustrated in FIG. 210.

FIG. 211 is a logic flow diagram of a process 60850 depicting a controlprogram or logic configuration for cooperatively controlling applicationof a therapeutic signal to a tissue grasped by an end effector (e.g. endeffector 60502) and controlling a function of the end effector. Thefunction includes at least one of an articulation of the end effector, arotation of the end effector, a closure of the end effector about thetissue, and a firing of the staples into the tissue. In variousinstances, the process 60850 can be implemented by any suitable RFenergy source (e.g. RF energy source 794) and any suitable surgicalinstrument such as, for example, surgical instruments 1000, 60000 thatinclude any suitable end effector such as, for example, end effectors1300, 60002, 60502. However, for brevity, the following description ofthe process 60850 will focus on its implementation in a surgical systemthat includes the RF energy source 794, the surgical instrument 60000,and the end effector 60502, for example.

As described supra, the end effector 60502 is configured to grasp tissuein a closure motion of one, or both, of the jaws of the end effector60502. Further, the end effector 60502 is also configured to apply atissue treatment cycle to the grasped tissue. The tissue treatment cycleincludes an RF energy phase where the RF energy source 794 is configuredto cause a therapeutic signal to be passed through the tissue to sealthe tissue, and a stapling phase where staples are deployed into thetissue from a cartridge 60530 in a firing stroke.

In the illustrated example, the process 60850 includes receiving 60851 acommunication signal from the RF energy source 794 indicative of adeficiency in an application of the therapeutic signal to the graspedtissue, and adjusting 60852 a function of the end effector 60502 basedon the communication signal to address the deficiency. The functionincludes at least one of an articulation of the end effector, a rotationof the end effector, a closure of the end effector about the tissue, anda firing of the staples into the tissue.

The deficiency may, for example, be a power insufficiency to complete aneffective tissue seal of grasped tissue via the therapeutic signal. Thepower insufficiency may result from an inadequacy of pressure applied tothe tissue by the jaws of the end effector 60502. Inadequate pressuremay change the amount of fluid in the grasped tissue, which can changetissue impedance to a level that hinders a proper transfer of thetherapeutic signal through the grasped tissue, by changing the powerrequired to complete an effective seal beyond the safe capabilities ofthe RF energy source 794.

The RF energy source 794 may detect the power insufficiency based onimpedance of the grasped tissue, for example. As described elsewhereherein in greater detail, the RF energy source 794 can measure tissueimpedance of tissue portions between opposite segmented electrodes ofthe electrode assemblies 60526, 60527, 50536, 50536. Tissue impedancecan then be compared to a threshold to determine whether sufficientpower is available for an effective tissue seal. The threshold can bestored in a storage medium such as, for example, a memory circuit. Incertain instances, the comparison can be performed by a processing unitat the RF energy source 794. A communication signal can then be sent tothe control circuit 760 to communicate the result of the comparison. Inother instances, the communication signal may represent the value of themeasured tissue impedance. In such instances, the comparison isperformed by the control circuit 760, and the threshold can be stored inthe memory circuit 68008, for example.

In any event, if power insufficiency is detected, the control circuit760 can be configured to adjust 60852 on or more function of the endeffector 60502 to change the pressure applied onto the tissue by thejaws, which changes fluid levels in the grasped tissue, which changesthe tissue impedance. If 60853 the change in tissue impedance addressesthe deficiency, the control circuit 760 authorities application 60804 ofthe therapeutic signal to the tissue.

In at least one example, various aspects of the process 60850 can beexecuted via the control circuit 760. In certain instances, the memory68008 stores program instructions that, when executed by the processor68002, cause the processor 68002 to perform one or more aspects of theprocess 60800 such as, for example, adjusting 60852 a function of theend effector 60502. The control circuit 760 may cause one or more motorassemblies to change a degree of articulation and/or rotation of the endeffector 60502 to adjust the pressure applied by the end effector 60502onto the grasped tissue to address 60853 the deficiency. Additionally,or alternatively, the control circuit 760 may cause a motor assembly tomove one or both of the jaws of the end effector 60502 to adjust a driveforce of a closure drive (e.g. I-beam 764, closure drive 3800), whichadjusts the clamp pressure applied by the end effector 60502 onto thegrasped tissue, to address 60853 the deficiency. Additionally, oralternatively, the control circuit 760 may a motor assembly to adjust aparameter of motion of the I-beam 764 to address 60853 the deficiency.

Referring primarily to FIG. 212, in certain instances, the deficiency tobe addressed can be in the end effector function rather than theapplication of the therapeutic signal. In one example, the deficiencycan be a power insufficiency to perform the end effector function. Asdescribed supra, end effector functions are driven by one or more motorassemblies that can be powered by a local energy source such as, forexample, the energy source 762 (FIG. 163) which can be in the form of abattery, for example. A power insufficiency may result where a chargelevel of the local energy source 762 is less than the power requirementto complete one or more of the end effector functions, for example

FIG. 212 is another logic flow diagram of a process 60900 depicting acontrol program or logic configuration for cooperatively controllingapplication of a therapeutic signal to a tissue grasped by an endeffector (e.g. end effector 60502) and controlling a function of the endeffector in an application of a tissue treatment cycle. Morespecifically, the process 60900 is focused on addressing a deficiency inan end effector function such as, for example, a local powerinsufficiency to complete an end effector closure.

In various instances, the process 60850 can be implemented by anysuitable RF energy source (e.g. RF energy source 794) and any suitablesurgical instrument such as, for example, surgical instruments 1000,60000 that include any suitable end effector such as, for example, endeffectors 1300, 60002, 60502. However, for brevity, the followingdescription of the process 60850 will focus on its implementation in asurgical system that includes the RF energy source 794, the surgicalinstrument 60000, and the end effector 60502, for example. In certaininstances, the memory 68008 stores program instructions that, whenexecuted by the processor 68002, cause the processor 68002 to performone or more aspects of the process 60900.

In the illustrated example, the process 60900 is relevant to anapplication of an RF energy to a tissue grasped by the end effector60502 below an optimal closure threshold due to a power insufficiency tocomplete the closure of the end effector 60502. The RF energy source 794can be configured to cause one or more of the electrode assemblies60526, 60527, 60536, 60536 to apply the RF energy to the tissue bypassing a therapeutic signal through the tissue. The process 60900includes detecting 60901 a charge level of a local energy source (e.g.energy source 794) configured to supply power to a motor assemblyconfigured to effect closure of the end effector 60502. The process60900 further includes adjusting 60902 a parameter of the therapeuticsignal based on the charge level of the local energy source.

In certain instances, the control circuit 760 is configured to monitor acharge level of the local energy source 762. In at least one example,the control circuit 760 employs a charge meter to monitor the chargelevel. If the charge level is below a predetermined threshold associatedwith an end effector function such as, for example, closure of the endeffector, the control circuit may cause the RF energy source 794 toadjust a parameter of the therapeutic signal to compensate for theinability of the motor assembly responsible for the closure of the endeffector to fully complete the closure function. In certain instances,the adjusted parameter of the therapeutic signal is power. The controlcircuit 760 can be configured to cause the RF energy source 794 toincrease a power level of the therapeutic signal, for example, inresponse to determining that a charge level of the local energy sourceis below the predetermined threshold.

Energy Sealing, Sensing, And Algorithms Therefor

The surgical instrument 1000, as described above in connection withFIGS. 1-13, may be adapted and configured for energy sealing and sensingunder the control of various algorithm as described hereinbelow inconnection with FIGS. 213-233. The surgical instrument 1000 comprises anenergy delivery system 1900 and control circuit configured to sealtissue with electrical energy and to execute algorithms for sensingshort circuits in the end effector 1300 jaws 1310, 1320. In particular,the following description is directed generally to algorithms fordetecting RF short circuits in the end effector 1300 jaws 1310, 1320,determining system RF power levels (including deactivation) from theenergy delivery system 1900, determining which portions of an electrode1925 in the end effector 1300 jaws 1310, 1320 are energized, andindicating to a user, by way of the display 1190 in communication withthe control system of the surgical instrument 1000, the status of thesurgical instrument 1000 and an explanation of what is occurring withinthe surgical instrument 1000. Prior to describing the various algorithmsthat may be executed by the control circuit of the surgical instrument1000, the description first turns to an explanation of theelectrical/electronic operating environment in which the algorithms areexecuted for energy sealing and sensing operations.

FIG. 213 illustrates a control system 40600 for the surgical instrument1000 described in connection with FIGS. 1-13 comprising a plurality ofmotors 40602, 40606 which can be activated to perform various functions,in accordance with at least one aspect of the present disclosure. Itwill be appreciated that the surgical instrument 1000 may compriseelectronic control circuits having different configurations withoutlimiting the scope of the present disclosure in this context. In certaininstances, a first motor 40602 can be activated to perform a firstfunction and a second motor 40606 can be activated to perform a secondfunction, and so on. In certain instances, the plurality of motors40602, 40606 of the control system 40600 can be individually activatedto cause firing, closure, and/or articulation motions in the endeffector. The firing, closure, and/or articulation motions can betransmitted to the end effector through a shaft assembly, for example.

In certain aspects, the control system 40600 may include a firing motor40602. The firing motor 40602 may be operably coupled to a firing motordrive assembly 40604 which can be configured to transmit firing motions,generated by the motor 40602 to the end effector, in particular todisplace the knife element. In certain instances, the firing motionsgenerated by the motor 40602 may cause the staples to be deployed fromthe staple cartridge into tissue grasped by the end effector and/or thecutting edge of the knife element to be advanced to cut the graspedtissue, for example. The knife element may be retracted by reversing thedirection of the motor 40602.

In certain aspects, the control system 40600 may include an articulationmotor 40606, for example. The articulation motor 40606 may be operablycoupled to an articulation motor drive assembly 40608, which can beconfigured to transmit articulation motions generated by thearticulation motor 40606 to the end effector. In certain instances, thearticulation motions may cause the end effector to articulate relativeto the shaft, for example.

As described above, the control system 40600 may include a plurality ofmotors which may be configured to perform various independent functions.In certain aspects, the plurality of motors 40602, 40606 of the controlsystem 40600 can be individually or separately activated to perform oneor more functions while the other motors remain inactive. For example,the articulation motor 40606 can be activated to cause the end effectorto be articulated while the firing motor 40602 remains inactive.Alternatively, the firing motor 40602 can be activated to fire theplurality of staples, and/or to advance the cutting edge, while thearticulation motor 40606 remains inactive.

Each of the motors 40602, 40606 may comprise a torque sensor to measurethe output torque on the shaft of the motor. The force on an endeffector may be sensed in any conventional manner, such as by forcesensors on the outer sides of the jaws or by a torque sensor for themotor actuating the jaws.

In various aspects, as illustrated in FIG. 213, the control system 40600may comprise a first motor driver 40626 to drive the firing motor 40602and a second motor driver 40632 to drive the articulation motor 40606.In other aspects, a single motor driver may be employed to drive thefiring and articulation motors 40602, 40606. In one aspect, the motordrivers 40626, 40632 each may comprise one or more H-Bridge field effecttransistors (FETs). The firing motor driver 40626 may modulate the powertransmitted from a power source 40628 to the firing motor 40602 based oninput from a microcontroller 40578 (the “controller” or “controlcircuit”), for example. In certain instances, the microcontroller 40578can be employed to determine the current drawn by the firing motor40602, for example, while the firing motor 40602 is coupled tomicrocontroller 40578, as described above.

In certain aspects, the microcontroller 40578 may include amicroprocessor 40622 (the “processor”) and one or more non-transitorycomputer-readable mediums or memory units 40624 (the “memory”) coupledthe processor 40622. In certain aspects, the memory 40624 may storevarious program instructions, which when executed may cause theprocessor 40622 to perform a plurality of functions and/or calculationsdescribed herein. In certain aspects, one or more of the memory units40624 may be coupled to the processor 40622, for example.

In certain instances, the power source 40628 can be employed to supplypower to the microcontroller 40578, for example. In certain instances,the power source 40628 may comprise a battery (or “battery pack” or“power pack”), such as a lithium-ion battery, for example. In certaininstances, the battery pack may be configured to be releasably mountedto a handle for supplying power to the control system 40600. A number ofbattery cells connected in series may be used as the power source 40628.In certain instances, the power source 628 may be replaceable and/orrechargeable, for example.

In various instances, the processor 40622 may control the firing motordriver 40626 to control the position, direction of rotation, and/orvelocity of the firing motor 40602. Similarly, the processor 40622 maycontrol the articulation motor driver 40632 to control the position,direction of rotation, and/or velocity of the articulation motor 40606.In certain aspects, the processor 40622 can signal the motor drivers40626, 40632 to stop and/or disable the firing or articulation motor40602, 40606 coupled to the processor 40622. It should be understoodthat the term “processor” as used herein includes any suitablemicroprocessor, microcontroller, or other basic computing device thatincorporates the functions of a computer's central processing unit (CPU)on an integrated circuit or, at most, a few integrated circuits. Theprocessor 40622 is a multipurpose, programmable device that acceptsdigital data as input, processes it according to instructions stored inits memory 40624, and provides results as output. It is an example ofsequential digital logic, as it has internal memory. Processors 40622operate on numbers and symbols represented in the binary numeral system.In other aspects, the controller 40578 or control circuit may compriseanalog or digital circuits such programmable logic devices (PLD), fieldprogrammable gate arrays (FPGA), discrete logic, or other hardwarecircuits, software, and/or firmware, or other machine executableinstructions to perform the functions explained in the followingdescription.

In one aspect, the processor 40622 may be any single-core or multicoreprocessor such as those known under the trade name ARM Cortex by TexasInstruments. In certain aspects, the microcontroller 40578 may be an LM4F230H5QR, available from Texas Instruments, for example. In at leastone example, the Texas Instruments LM4F230H5QR is an ARM Cortex-M4FProcessor Core comprising an on-chip memory of 256 KB single-cycle flashmemory, or other non-volatile memory, up to 40 MHz, a prefetch buffer toimprove performance above 40 MHz, a 32 KB single-cycle SRAM, an internalROM loaded with StellarisWare® software, a 2 KB EEPROM, one or more PWMmodules, one or more QEI analogs, one or more 12-bit ADCs with 12 analoginput channels, among other features that are readily available for theproduct datasheet. Other microcontrollers may be readily substituted foruse with the control system 40600. Accordingly, the present disclosureshould not be limited in this context.

In certain aspects, the memory 40624 may include program instructionsfor controlling each of the firing and articulation motors 40602, 40606of the control system 40600 that are couplable to the processor 40622.For example, the memory 40624 may include program instructions forcontrolling the firing motor 40602 and the articulation motor 40606.Such program instructions may cause the processor 40622 to control thefiring, closure, and articulation functions in accordance with inputsfrom algorithms or control programs of the surgical instrument or tool.

In certain aspects, the controller 40578 may be coupled to an RFgenerator 40574 and a plurality of electrodes 40500 disposed in the endeffector via a multiplexer 40576. The RF generator 40574 is configuredto supply bipolar or monopolar RF energy either individually or incombination. In one aspect, the RF generator 40574 is configured todrive the segmented RF electrodes 40500 with an in-series currentlimiting element Z within the distal portion of the instrument for eachelectrode 40500. The RF generator 40574 may be configured to sense ashort circuit between the electrode 40550 and the return path 40510 bymonitoring the output current, voltage, power, and impedancecharacteristics of the segmented electrode 40500. In one aspect, the RFgenerator 40574 may be configured to actively limit the current throughor redirect the current around a shorted electrode 40500 when a short isdetected. This function also may be accomplished by the controller 40578in combination with a switching element such as the multiplexer 40576.The redirection or current limiting function may be controlled by the RFgenerator 40574 in response to a detected short circuit or electrode40500 irregularity. If the RF generator 40574 is equipped with adisplay, the RF generator 40574 can display information to the user whena restricted electrode 40500 has been detected and the restriction oncurrent may be removed when sensing of the short circuit is removed. TheRF generator 40574 can engage the sensing and limiting functions as thetissue welding operation continues or at the start of a tissue weldingoperation. In one aspect, the RF generator 40574 may be a stand alonegenerator. In another aspect, the RF generator 40574 may be containedwithin the surgical instrument housing.

In one aspect, the RF generator may be configured to adapt the energymodality (monopolar/bipolar) RF applied to the end effector 1300 of thesurgical instrument 1000 based on shorting or other tissue resistance,impedance, or irregularity. The RF monopolar/bipolar energy modality maybe adapted by the RF generator 40574 or by the controller 40578 incombination with a switching element such as the multiplexer 40576. Inone aspect, the present disclosure provides a dual energy mode RFendocutter surgical instrument 1000 configured to apply monopolar orbipolar RF energy. Further, the RF generator 40574 can be configured toadjust the power level and percentage of each monopolar or bipolar RFenergy modality based on tissue impedance conditions detected either bythe RF generator 40574 or the controller 40578. The energy modalityadjustment function may comprise switching between bipolar and monopolarRF energy modalities, blending the bipolar and monopolar RF energymodalities, or blending of certain electrode segments 40500 ₁₋₄. In oneaspect, the independently controlled electrode segments 40500 ₁₋₄ couldbe switched together as a group or as individual electrodesegment-by-segment 40500 ₁₋₄.

With reference now also to FIG. 239, in various aspects, the dual energymode RF endocutter surgical instrument 1000 may be employed with staples44300 that have variable electrical conductivity along their body. Inone aspect, the variable electrical conductivity staple 44300 maycomprise a portion of the staple 44300 such as the deformable legs44304, 44306 that are electrically conductive and a portion of thestaple 44300 such as the crown 44320 that has a different electricalconductivity from the deformable legs 44304, 44306. The electricalconductivity of the staple 44300 may vary based on its geometry ormaterial composition such that when the staple 44300 is grasped in ashorting condition between the RF electrode 40500 and the return path40510 of a dual mode RF energy/stapling combination surgical instrument1000, the variable conductivity of the staple 44300 may beadvantageously exploited to prevent the staple 44300 from shorting oneelectrode 40500 to the other. In one aspect, the conductivity of thestaple 44300 may be based on the temperature of the staple 44300,current through the staple 44300, or a portion of the staple 44300having a high dielectric breakdown coefficient.

In one aspect, the surgical staple 44300 for a combination energystapler surgical instrument 1000 comprises a crown 44302 defining a base44301 and first and second deformable legs 44304, 44306 extending fromthe each end of the base 44301. A first electrically conductive materialdisposed on at least a first portion of the base 44301 and a secondelectrically conductive material disposed on at least a second portionof the base 44301. The electrical conductivity of the first electricallyconductive material is different from the electrical conductivity of thesecond electrically conductive material. In one aspect, the first andsecond electrically conductive materials are the same and the electricalconductivity varies based on different geometries of the first andsecond electrically conductive materials deposited on the first andsecond portions of the base 44301. In one aspect, the first and secondelectrically conductive materials have different compositions and theelectrical conductivity varies based on the different compositions ofthe first and second electrically conductive materials deposited on thefirst and second portions of the base 44301. I one aspect, the first andsecond electrically conductive materials have similar geometries anddifferent material compositions to provide different electricalconductivities.

With reference back to FIG. 213, in other aspects, the controller 40578may be coupled to one or more mechanisms and/or sensors to alert theprocessor 40622 to the program instructions that should be used in aparticular setting. For example, the sensors may alert the processor40622 to use the program instructions associated with firing, closing,and articulating the end effector. In one aspect, the memory 40624 maystore executable instructions to cause the processor 40622 to detect RFshorting in the end effector by monitoring one or more than oneelectrode 406234. In another aspect, the memory 40624 may storeexecutable instructions to cause the processor 40622 to determine RFpower level (including deactivation). In other aspects, memory 40624 maystore executable instructions to cause the processor 40622 to determinewhich portions of the electrodes 40500 are energized and indicate to theuser of why and what is happening via a display 40625 coupled to thecontroller 40578.

In one aspect, the memory 40624 may comprise executable instructionsthat when executed cause the processor 40622 to detect short circuits inthe end effector and predict the electrode 40500 by the controller 40578and in response adapt the RF energy path of the RF energy generated bythe RF generator 40574. In one aspect, the electrodes 40500 may besegmented RF electrodes with an in-series current limiting elementwithin the distal portion of the control system 40600 for eachelectrode. Aspects of segmented electrodes are described hereinbelow inconnection with FIGS. 214-217. In other aspects, the memory 40624 maystore executable instructions to cause the processor 40622 to sense ashort circuit between an electrode 40500 and the return path 40510. Inother aspects, the memory 40624 may store executable instructions thatwhen executed cause the processor 40622 to actively limit the currentthrough or redirect the current around a shorted electrode 40500 when ashort circuit is detected. In various aspects, the redirection orcurrent limiting is performed by the controller 40578 or the RFgenerator 40574 in response to a detected short circuit or electrode40500 irregularity. In various aspects, the controller 40578 can detectwhen an electrode 40574 has been restricted and can display thatinformation to the user via the display 40625. In various aspects, thecurrent restriction function may be removed when the sensing of theshort circuit is removed. In various aspects, the sensing and limitingfunctions can be engaged as the tissue welding process continues or atthe start of a tissue welding process.

In various aspects, prior to applying therapeutic energy, the controller40578 may apply a pre-sealing energy cycle to the electrode 40500 arrayat a lower than therapeutic level to provide an initial screen to scanfor short circuits between the electrodes 40500 or between theelectrodes 40500 and the return electrode 40510. The multiplexer 40576may cycle through the electrode 40500 array by sending low level signalsout to determine if faults are present. This could be reported back tothe RF generator 405774. A contained system could then exclude channelswhere faults are or shorts are present and cycle through the remainingchannels without the RF generator 40574 needing to adapt its output tothe surgical instrument 1000. In one aspect, coils may be employed asminiature metal detectors to determine presence of existing staples in aproposed energy path. In this example, the system is passive and doesnot pass an electric current through the tissue.

In certain aspects, the controller 40578 may be coupled to varioussensors. The sensors may comprise position sensors which can be employedto sense the position of switches, for example. Accordingly, theprocessor 40622 may use the program instructions associated with firingthe knife of the end effector upon detecting, through the sensors, forexample, that the switch is in the first position; the processor 40622may use the program instructions associated with closing the anvil upondetecting, through the sensors for example, that the switch is in thesecond position; and the processor 40622 may use the programinstructions associated with articulating the end effector upondetecting, through the sensors for example, that the switch is in thethird or fourth position.

Additional sensors include, without limitation, arc detection sensors tomeasure AC ripple on the base RF waveform and to measure current Δdi/dt.Other sensors include optical detectors and/or laparoscopic cameras tomonitor specific frequencies or wavelengths in the visible, infrared(IR), or other portions of the electromagnetic spectrum. In one aspects,sensors to detect negative incremental resistance and RF arc temperaturemay be coupled to the controller 40578. Other sensors, includeenvironmental sensors to measure humidity, atmospheric pressure,temperature, or combinations thereof.

FIG. 214 shows a jaw 40524 of an end effector for the surgicalinstrument 1000 described in FIGS. 1-13 where the electrode 1925 shownin FIG. 6 is configured with multiple pairs of segmented RF electrodes40500 disposed on a circuit board 40570, or other type of suitablesubstrate, on a lower surface of the jaw 40524 (i.e., the surface of thejaw 40524 facing tissue during operation), in accordance with at leastone aspect of the present disclosure. The various pairs of segmented RFelectrodes 40500 are energized by an RF source (or generator) 40574. Amultiplexer 40576 may distribute the RF energy to the various pairs ofsegmented RF electrodes 40500 as desired under the control of acontroller 40578. According to various aspects, the RF source 40574, themultiplexer 40576, and the controller 40578 may be located in the energydelivery system 1900 extending through the shaft 1200 and thearticulation joint 1400 and into the end effector 1300 of the surgicalinstrument 1000 as described in connection with FIGS. 1 and 6. The RFenergy is coupled between the electrodes 40500 and a return path 40510back to the RF generator 40574.

In the example of the pairs of segmented electrodes 40500 shown in FIG.214, the circuit board 40570 may comprise multiple layers that provideelectrical connections between the multiplexer 40576 and the variouspairs of segmented electrodes 40500. For example, the circuit board40570 may comprise multiple layers providing connections to the pairs ofsegmented electrodes 40500. In one example, an upper most layer mayprovide connections to the most proximate pairs of segmented electrodes40500; a middle layer may provide connections to middle pairs ofsegmented electrodes 40500; and a lowest layer may provide connectionsto most distal pairs of segmented electrodes 40500. The pairs ofsegmented electrodes 40500 configuration, however, is not limited inthis context.

FIG. 215 illustrate a multi-layer circuit board 40570, in accordancewith at least one aspect of the present disclosure. FIG. 215 shows across-sectional end view of the jaw 40524. The circuit board 40570,adjacent to staple pockets 50584, comprises three conducting layers40580 ₁₋₃, having insulating layers 40582 ₁₋₄ therebetween, showing howthe various layers 40580 ₁₋₃ may be stacked to connect back to themultiplexer 40576.

An advantage of having multiple RF electrodes 40500 in the end effector1300, as shown in FIG. 6, is that, in the case of a metal staple line orother electrically conductive object left in the tissue from a previousinstrument firing or surgical procedure that may cause a short circuitof the electrodes 40500, such a short situation could be detected by theRF generator 40574, the multiplexer 40576, and/or the controller 40578,and the energy may be modulated in a manner appropriate for the shortcircuit or adaptation of the energy path in response.

FIG. 216 shows segmented electrodes 40500 on either side of the knifeslot 40516 in the jaw 40524 have different lengths, in accordance withat least one aspect of the present disclosure. In the illustratedexample, there are four co-linear segmented electrodes, but the mostdistal electrodes 40500 ₁, 40500 ₂ are 10 mm in length, and the twoproximate electrodes 40500 ₃, 40500 ₄ are 20 mm in length. Havingshorter distal electrodes 40500 ₁, 40500 ₂ may provide the advantage ofconcentrating the therapeutic energy applied to the tissue.

FIG. 217 is a cross-sectional view of an end effector comprising aplurality of segmented electrodes 40500, in accordance with at least oneaspect of the present disclosure. As shown in the example of FIG. 217,the segmented electrodes 40500 are disposed on the upper jaw 40524 (oranvil) of the end effector. In the illustrated example, the activesegmented electrodes 40500 are positioned adjacent the knife slot 40516.A metal anvil portion of the jaw 40524 may serve as the returnelectrode. Insulators 40504, which may be made of ceramic, insulate thesegmented electrodes 40500 from the metallic jaw 40524.

FIG. 218 shows a jaw 40524 of an end effector for the surgicalinstrument 1000 described in FIGS. 1-13 and 214 where multiple pairs ofsegmented RF electrodes 40500 include a series current limiting elementZ within the distal portion of the end effector for each electrode, inaccordance with at least one aspect of the present disclosure. Thecurrent limiting element Z is shown schematically in series with themultiplexer 40576, but may be disposed on the circuit board 40570 wherethe electrode elements are disposed. Accordingly, the controller 40578or the RF generator 40574 may be configured to sense a short between anelectrode 40500 and the return path 40510 and actively limit the currentthrough or redirect the current around the shorted electrode 40500 whena short circuit is detected. In one aspect, the redirection or currentlimiting is done by the controller 40578 electronics in the surgicalinstrument 1000 (FIGS. 1-13) or the RF generator 40574 in response to adetected short circuit or electrode irregularity. In one aspect, thecontroller 40578 or RF generator 40574 can detect when an electrode40500 has been restricted and can display that information to the useron the display 40625 (FIG. 213). In one aspect, the restriction oncurrent is removed when the sensing of the short circuit is removed. Inone aspect, the sensing and limiting can be engaged as the tissuewelding process continues or at the start of the tissue welding process.

RF Shorting Detection Methods and Systems Therefor

With reference to FIGS. 1-13, the present disclosure now turns to adescription of systems and methods for detecting RF shorting in the jaws1310, 1320 of the end effector 1300 and determining the RF power level(including deactivation), and which portions of the electrode 1925 areenergized and indicating to the user of why and what is happening viathe display 1190. The systems and methods comprise detecting RF shortcircuiting in the jaws 1310, 1320 of the end effector 1300 employingalgorithmic differentiation and detecting RF arching by monitoring thesurgical instrument 1000. In one general aspect, a system and methodcomprises detecting an RF short circuit in the end effector 1300 byalgorithmic differentiation between low impedance tissue grasped in thejaws 1310, 1320 of the end effector 1300 and a metallic short circuitbetween the electrode 1925 and the return path defined by the returnelectrode 1590. A detection/warning to surgeons of shorting risk isprovided to the user via the display 1190. Algorithms utilized low powerexploratory pulses prior to firing and can differentiate clips/staplesand acceptable compared to unacceptable amounts of metal in the jaws1310, 1320.

With reference also to FIGS. 213-218 above and 219-234 hereinbelow, thesystems and methods for detecting RF short circuiting in the jaws 1310,1320 of the end effector 1300 employing algorithmic differentiation anddetecting RF arching by monitoring the surgical instrument 1000, will bedescribed in connection with the control system 40600 for the surgicalinstrument 1000 shown in FIG. 213 and the segmented electrodes 40500described in connection with FIGS. 213-218 and the graphicalrepresentations shown in FIGS. 219-232. Finally, the method will befurther described in connection with the method 41900, 42000 describedin connection with FIGS. 233 and 234.

In one general aspect, the present disclosure provides a system 40600and method 41900 for detecting and predicting shorting of the of theelectrode 1925 and/or the segmented electrode 40500 by the controller40578 electronics and adaptation of the energy path in response thereto.In one aspect, the segmented RF electrodes 40500 may comprises anin-series current limiting element Z (FIG. 218) within the distalportion of the instrument 1000 jaw 40524 for each electrode 40500 ₁₋₄,among others, for example. In another aspect, the controller 40578 isconfigured to sense a short between the electrode 1925 and the returnpath defined by the return electrode 1590 or the electrode 40500 and thereturn path 40510. In yet another aspect, the controller 40578 may beconfigured to actively limit the current through or redirect the currentaround a shorted electrode 1925, 40500, when a short is detected. In yetanother aspect, the controller 40578 or RF generator 40574 may beconfigured to redirect or limit the current though a shorted electrodeelement in response to a detected short or electrode irregularity. Inyet another aspect, the controller 40578 may be configured to detectwhen an electrode 1925, 40500 has been restricted and can display thatinformation to the user via the display 1190, 40625. Further, in yetanother aspect, the controller 40578 may be configured to remove therestriction on current when the sensing of the short is removed.Further, in yet another aspect, the controller 40578 may be configuredto engage short circuit sensing and current limiting as the tissuewelding process continues or at the start of the tissue welding process.

Algorithmic Differentiation

With reference to FIGS. 1-13 and 213-228D, the present disclosure nowturns to a description of one aspect of algorithmic differentiationbetween low impedance tissue conditions and a metallic short between theelectrode 1925 and the return path electrode 1590 or the electrode 40500and the return path 40510. Upon detecting a short circuit, thecontroller 40578 provides a warning to the surgeon of shorting risk. Thealgorithms utilize low power exploratory pulses prior to firing,differentiate clips/staples, acceptable compared to unacceptable amountsof metal, and detection of metal in the jaws 1320, 40524 causing energycontrol adjustments.

FIGS. 219-222 illustrate various graphical representations of low powerexploratory pulse waveforms 41000, e.g., current, power, voltage, andimpedance, applied to an electrodes 1925 or a segmented electrode 40500to illustrate the algorithmic differentiation between low impedancetissue conditions and a metallic short between electrodes 1925, 40500and the return path electrodes 1590, 40510. FIG. 219 is a graphicalrepresentation of exploratory pulse waveforms 41000 applied by the RFgenerator 40574 under control of the controller 40578 to an electrode1925, 40500 to detect a metallic object shorting the electrode 1925,40500 and the return path electrode 1590, 40510, in accordance with atleast one aspect of the present disclosure. In particular, FIG. 219depicts the application of low power exploratory pulse waveforms 41000prior to firing or activating RF sealing energy in liver tissue thatincludes a metallic staple located in the field causing a short betweenan electrode 1925, 40500 and a return path electrode 1590, 40510. Theexploratory pulse waveforms 41000 comprise a pulsed current waveform41002, a pulsed power waveform 41004, a pulsed voltage waveform 41006,and a pulsed impedance waveform 41008 measured between the electrode1925, 40500 and the return path electrode 1590, 40510 before and duringa shorting event, which is shown in the detailed view in FIG. 220.

FIG. 220 is a detailed view of the exploratory pulse waveforms 41000applied to an electrode 1925, 40500 during a shorting event, inaccordance with at least one aspect of the present disclosure. Theexploratory pulse waveforms 4100 are applied prior to firing ordelivering therapeutic RF energy to seal tissue grasped between the jaws1320 (40524), 1310 of the end effector 1300. As shown, during theshorting event period, the pulsed current waveform 41002 increases to amaximum value (e.g., i_(max)≥3 A) and at the same time the pulsed powerwaveform 41004 decreases to a minimum value (e.g., p_(min)≤2 W), thepulsed voltage waveform 41006 decreases to a minimum value (e.g.,v_(min)≤0.6 V), and the pulsed impedance waveform 41008 decreases to aminimum value (e.g., Z_(min)≤0.2 Ohms). In one aspect, the shortingdetection algorithm applies exploratory energy pulses monitors thevalues of the pulsed waveforms 41002, 41004, 41006, 41008 and comparesthem to predetermined values to determine if a short circuit is presentbetween the jaws 1320 (40524), 1310 of the end effector 1300. Thealgorithm, then determines whether the exploratory pulse waveforms 41000are due to a short circuit or low impedance tissue grasped between thejaws 1320 (40524), 1310 of the end effector 1300.

FIG. 221 is a graphical representations of exploratory pulse waveforms41010 applied to an electrode 1925, 40500 prior to firing or deliveringtherapeutic RF energy to seal tissue grasped between the jaws 1320(40524), 1310 of the end effector 1300, in accordance with at least oneaspect of the present disclosure. The exploratory pulse waveforms 41010are applied to low impedance tissue without the presence of a shortcircuit between the electrode 1925, 40500 and the return electrode 1590,40510. The low impedance tissue exploratory pulse waveforms 41010comprise a current waveform 41012, a power waveform 41014, a voltagewaveform 41016, and an impedance waveform 41018.

FIG. 222 is a detailed view depicting the pulsed impedance waveform41018 applied to tissue having an impedance of approximately 2Ω, inaccordance with at least one aspect of the present disclosure. It hasbeen determined that low tissue impedance is approximately in the rangeof 1Ω to 3Ω. As shown in FIG. 221, the value of the exploratory pulsedcurrent waveform 41012 applied the low impedance tissue increases toabout 2.8 A while the exploratory pulsed voltage waveform 41016 drops toabout 5V and the exploratory pulsed power waveform 41014 drops to about20 W. Testing of the RF generator 40574 identified tissue impedance Z<1Ωas a short circuit compared to low impedance tissue impedance, which hasbeen identified as ˜2Ω and in the range of 1Ω to 3Ω.

With reference to FIGS. 213-222, in one aspect, the present disclosureprovides a method of detecting shorting in a jaw 50524 of an endeffector prior to initiating a tissue sealing (welding) cycle.Accordingly, the memory 40624 stores executable instructions that whenexecuted by the processor 40622 cause the processor 40622 control the RFgenerator 40574 to generate a series of pre-cycle exploratory pulses asshown in FIGS. 219-222 to determine whether there is a short in the jaw40524 of the end effector or whether tissue in contact with the jaw40524 has a low impedance. Under the control of the processor 40622, theRF generator 40574 delivers pulses of non-therapeutic RF energy levelsto the electrodes 40500 ₁ located at the distal end (nose) of the jaw40524 at the initiation of an energy activation cycle. The nose pulse(s)is not detectable to a surgeon and it is part of the activationsequence. In one aspect, the pulse/detection period may be selected inthe range of 0.1 to 1.0 seconds in duration. In other aspects, thepulse/detection period is less than 0.5 seconds in duration.

In other aspects, under control of the processor 40622 the RF generator40574 generates nose pulse(s) with non-therapeutic energy level at theinitiation of energy activation to provide shorting detectionspecificity. In one aspect, the RF generator 40574 generates a singlepulse that is applied to all active/return electrodes 40500simultaneously. In another aspect, the RF generator 40574 generatesmultiple pulses, each with different combinations of segments ofactive/return electrodes 40500 to enable extremely specific targeting ofactive/return electrodes 40500 when in therapeutic mode in order to sealaround a detected short.

Still with reference to FIGS. 213-222, in one aspect, the presentdisclosure provides a method of detecting shorting in a jaw 50524 of anend effector during the tissue sealing cycle. Detection of shorts in thejaw 50524 within the tissue sealing cycle may be necessary whenstaples/clips are protected by the tissue and shorting may not occuruntil the tissue sealing cycle has begun. Such tissue protectedstaples/clips are not detectable using the pre sealing cycle nose pulseas described above. In this aspect, the controller 40578 of the controlsystem 40600 is configured to react in real time to manage activation ofone or more electrode segments 40500 ₁-40500 ₄. Accordingly, the memory40624 may store executable instructions that when executed by theprocessor 40622 cause the processor 40622 to control the RF generator40574 to generate and apply a continuous non-pulsed energy to theelectrodes 40500 and determines real time rate changes or real timelevel thresholds of the current, power, voltage, and/or impedance. Inone aspect, the processor 40622 is configured to detect decreasedvoltage, impedance, and/or power. In another aspect, the processor 40622is configured to detect increased current.

In various other aspect, the memory 40624 may store executableinstructions that when executed by the processor 40622 cause theprocessor 40622 to execute alternative detection techniques which arenot based on energy flow. In one aspect, segmented thermocouples may belocated at each active and/or return electrode 40500 location and theprocessor 40622 is configured to read the temperature of eachthermocouple and to employ a heat signature at a location of a segmentedelectrode 40500 to determine the presence of a short.

In another alternative detection aspect of the present disclosure, acoil pickup may be located at each active and/or return electrode 40500location and the processor 40622 is configured to detect a magneticfield induced from electric output by the electrode 40500 segment. Thecoils may be employed as miniature metal detectors to determine thepresence of existing staples in a proposed energy path. The coildetection system is passive and does include passing a current throughthe tissue to enable detection of a short.

In another alternative detection aspect of the present disclosure, asingle frequency detector is employed to sense if a short has occurredin the jaw 40524. In one aspect, the single frequency detector comprisestwo coils to detect a very low frequency (VLF) inductance or resistance.In another aspect, the single frequency detector employs pulse induction(PI) utilizing one coil for both transmit and receive functions and isgood in saline environments. In yet another aspect, the single frequencydetector comprises two coils and is configured to detect beat frequencyoscillations (BFO).

In another alternative detection aspect of the present disclosure, amultiple frequency detector is employed to determine to sense if a shorthas occurred in the jaw 40524. In one aspect, the multiple frequencydetector may be configured short depth frequency (shallow target) orlong depth frequency (deep target).

In another alternative detection aspect of the present disclosure, abalance device may be employed to remove unwanted signal of backgroundenvironment (tissue, fluids). In one aspect, the balance device mayemploy manual or automatic adjustments. In automatic adjustments, thebalance device determines the best balance settings. In one aspect, thebalance device provides tracking adjustments where the balance devicecontinuously adjusts based on current conditions of surroundingenvironment.

In another alternative detection aspect of the present disclosure,staple material may be selected for specific identification of shorts.In one aspect, the staple material composition may be made unique to themanufacturer. This technique may be employed to identify specificcompetitor staples.

In another alternative detection aspect of the present disclosure, coilsmay be positioned horizontal and/or vertical where gains/losses insignal depend upon the position of a foreign object relative to thecoil. In one aspect, each coil is positioned surrounding each electrode40500 on the deck or circuit board 40570. In another aspect, the coilsmay be positioned/molded into a plastic cartridge wall surrounding theelectrode 40500.

In various other aspect, the memory 40624 may store executableinstructions that when executed by the processor 40622 cause theprocessor 40622 to predict a short, prior to full shorting, byinterrogating data in a pulsed energy application. In one aspect, thepulsing may enable prediction of shorting verse reaction to shorting. Inone aspect, the energy profile may be a pulsed application rather than acontinuous application of energy. Pulsing may provide an extra layer ofinformation than non-pulsed energy techniques based on needing to rampup energy repeatedly throughout a cycle.

FIGS. 223-228D illustrate several examples of energy activation in livertissue that includes a metallic staple in the field as described inconnection with FIGS. 219-222. FIG. 223 is a graphical representation ofa first example of exploratory pulse waveforms 41100 applied by the RFgenerator 40574 under control of the controller 40578 to an electrode1925, 40500 to detect a metallic object shorting the electrode 1925,40500 and the return path electrode 1590, 40510.

FIG. 223 depicts the application of a first example of low powerexploratory pulse waveforms 41100 prior to firing or activating RFsealing energy in liver tissue that includes a metallic staple locatedin the field causing a short between an electrode 1925, 40500 and areturn path electrode 1590, 40510, in accordance with at least oneaspect of the present disclosure. The exploratory pulse waveforms 41100comprise a pulsed current waveform 41102, a pulsed power waveform 41104,a pulsed voltage waveform 41106, and a pulsed impedance waveform 41108measured between the electrode 1925, 40500 and the return path electrode1590, 40510 before and during a shorting event.

FIG. 224A is a detailed view of the impedance waveform 41108 componentof the exploratory pulse waveforms 41100 during a transition to a shortcircuit between the electrode 1925, 40500 and the return path electrode1590, 40510, in accordance with at least one aspect of the presentdisclosure. As shown, prior to the shorting event, the impedance 41108decreases prior to reaching the short circuit impedance 41110 during theshorting event.

FIG. 224B is a detailed view of the power waveform 41104 component ofthe exploratory pulse waveforms 41100 during a transition to a shortcircuit between the electrode 1925, 40500 and the return path electrode1590, 40510, in accordance with at least one aspect of the presentdisclosure. As shown, prior to the shorting event, the power 41104decreases prior to reaching the short circuit power 41112 during theshorting event.

FIG. 224C is a detailed view of the voltage waveform 41106 component ofthe exploratory pulse waveforms 41100 during a transition to a shortcircuit between the electrode 1925, 40500 and the return path electrode1590, 40510, in accordance with at least one aspect of the presentdisclosure. As shown, prior to the shorting event, the voltage 41106decreases prior to reaching the short circuit voltage 41114 during theshorting event.

FIG. 224D is a detailed view of the current waveform 41102 component ofthe exploratory pulse waveforms 41100 during a transition to a shortcircuit between the electrode 1925, 40500 and the return path electrode1590, 40510, in accordance with at least one aspect of the presentdisclosure. As shown, prior to the shorting event, the current 41102increases prior to reaching the short circuit current 41116 during theshorting event.

FIG. 225 depicts the application of a second example of low powerexploratory pulse waveforms 41200 prior to firing or activating RFsealing energy in liver tissue that includes a metallic staple locatedin the field causing a short between an electrode 1925, 40500 and areturn path electrode 1590, 40510, in accordance with at least oneaspect of the present disclosure. The exploratory pulse waveforms 41200comprise a pulsed current waveform 41202, a pulsed power waveform 41204,a pulsed voltage waveform 41206, and a pulsed impedance waveform 41208measured between the electrode 1925, 40500 and the return path electrode1590, 40510 before and during a shorting event.

FIG. 226A is a detailed view of the impedance waveform 41208 componentof the exploratory pulse waveforms 41200 during a transition to a shortcircuit between the electrode 1925, 40500 and the return path electrode1590, 40510, in accordance with at least one aspect of the presentdisclosure. As shown, prior to the shorting event, the impedance 41208decreases prior to reaching the short circuit impedance 41210 during theshorting event.

FIG. 226B is a detailed view of the power waveform 41204 component ofthe exploratory pulse waveforms 41200 during a transition to a shortcircuit between the electrode 1925, 40500 and the return path electrode1590, 40510, in accordance with at least one aspect of the presentdisclosure. As shown, prior to the shorting event, the power 41204decreases prior to reaching the short circuit power 41212 during theshorting event.

FIG. 226C is a detailed view of the voltage waveform 41206 component ofthe exploratory pulse waveforms 41200 during a transition to a shortcircuit between the electrode 1925, 40500 and the return path electrode1590, 40510, in accordance with at least one aspect of the presentdisclosure. As shown, prior to the shorting event, the voltage 41206decreases prior to reaching the short circuit voltage 41214 during theshorting event.

FIG. 226D is a detailed view of the current waveform 41202 component ofthe exploratory pulse waveforms 41200 during a transition to a shortcircuit between the electrode 1925, 40500 and the return path electrode1590, 40510, in accordance with at least one aspect of the presentdisclosure. As shown, prior to the shorting event, the current 41202increases prior to reaching the short circuit current 41216 during theshorting event.

FIG. 227 depicts the application of a second example of low powerexploratory pulse waveforms 41300 prior to firing or activating RFsealing energy in liver tissue that includes a metallic staple locatedin the field causing a short between an electrode 1925, 40500 and areturn path electrode 1590, 40510, in accordance with at least oneaspect of the present disclosure. The exploratory pulse waveforms 41200comprise a pulsed current waveform 41302, a pulsed power waveform 41304,a pulsed voltage waveform 41306, and a pulsed impedance waveform 41308measured between the electrode 1925, 40500 and the return path electrode1590, 40510 before and during a shorting event.

FIG. 228A is a detailed view of the impedance waveform 41308 componentof the exploratory pulse waveforms 41300 during a transition to a shortcircuit between the electrode 1925, 40500 and the return path electrode1590, 40510, in accordance with at least one aspect of the presentdisclosure. As shown, prior to the shorting event, the impedance 41308decreases prior to reaching the short circuit impedance 41310 during theshorting event.

FIG. 228B is a detailed view of the power waveform 41304 component ofthe exploratory pulse waveforms 41300 during a transition to a shortcircuit between the electrode 1925, 40500 and the return path electrode1590, 40510, in accordance with at least one aspect of the presentdisclosure. As shown, prior to the shorting event, the power 41304increases prior to reaching the short circuit power 41312 during theshorting event.

FIG. 228C is a detailed view of the voltage waveform 41306 component ofthe exploratory pulse waveforms 41300 during a transition to a shortcircuit between the electrode 1925, 40500 and the return path electrode1590, 40510, in accordance with at least one aspect of the presentdisclosure. As shown, prior to the shorting event, the voltage 41306decreases prior to reaching the short circuit voltage 41314 during theshorting event.

FIG. 228D is a detailed view of the current waveform 41302 component ofthe exploratory pulse waveforms 41300 during a transition to a shortcircuit between the electrode 1925, 40500 and the return path electrode1590, 40510. As shown, prior to the shorting event, the current 41302increases prior to reaching the short circuit current 41316 during theshorting event.

In one aspect, the exploratory waveforms define a ramp. The controller40578 may be configured to compare an actual pulse ramp to a specifiedpulse ramp. Each pulse of energy application has a specified pulse ramp.The controller 40578 may be configured to identify a short circuit riskwhen the actual pulse ramp is different from the specified pulse rampfor a predefined voltage, current, or impedance exploratory waveform. Inone aspect, the controller 40578 may be configured to compare presentpulse data to pulse data of previous pulses including for example,moving average, etc. As previously described, the controller 40578 mayidentify a short circuit risk by detecting a decrease in voltage,impedance, or power or detecting an increase in current.

In one aspect, the controller 40578 may be configured to monitor theelectrode 40500 or segments of the electrode 40500 ₁₋₄ to determine alevel of shorting risk based on predicted or actual shorting conditionsin the jaws 1310, 1320 (40524) of the end effector 1300. The controller40578 may be configured to differentiate clips/staples from a shortcircuit condition, acceptable in contrast to unacceptable amounts ofmetal, and the location of metallic objects in the jaws 1310, 1320(40524) of the end effector 1300.

A higher risk of shorting may be determined by the controller 40578 bydifferentiating between clips, staples, and unknown metallic objects inthe sealing zone of the jaws 1310, 1320 (40524) of the end effector1300. The controller 40578, however, may be configured to differentiatea clip by measuring the resistance where a clip has a lower resistance(micro ohms) based on the amount of metal in the clip compared to thestaple. The controller 40578 may be configured to measure electrode40500 ₁₋₄ segment temperature where the clip most likely has a lowertemperature, based on lower resistance, compared to a staple. In oneaspect, segmented thermocouples may be incorporated in the jaws of theend effector to measure the temperature at different locations in thejaws. In one aspect, a clip impedance ramp is different than a stapleimpedance ramp and the controller 40578 may be configured to determinethe difference. For example, clips and staples have different inductiveor capacitive reactance that can be monitored by the controller 40578 todetermine risk of shorting. In one aspect, the controller 40578 may beconfigured to detect a short circuit between two or more adjacentsegments of the segmented electrode 40500 ₁₋₄ to be indicative of a clipor multiple staples. In other aspects, the controller 40578 may beconfigured to detect a short circuit distributed over more than 25% ofthe segments in a segmented electrode 40500 ₁₋₄.

A lower risk may be determined by the controller 40578 when the RFsealing pathway is defined through a non-optimal path, i.e., opposedsealing path compared to offset sealing path. In other aspects,switching between bipolar to monopolar sealing presents a lower risk ofshorting. Accordingly, the controller 40578 may be configured to assessa lower risk of shorting when the surgical instrument switches frombipolar to monopolar sealing. Also, a staple located in the sealing zonepresents a lower risk of shorting as well as the presence of knownmetallic objects in the sealing zone. Also, lower risk may be determinedwhen the staples are made of a unique metal for a particularRF/endocutter device such as the surgical instrument 1000. In suchinstance, the controller 40578 may be configured to differentiate howthe surgical instrument 1000 responds to the presence of a known uniquemetal.

Upon detection of a short circuit condition in the jaws 1310, 1320(40524) of the end effector 1300, the controller 40578 may configured tooutput a warning to surgeons of a shorting risk though one or more thanone user interfaces that may be audible, visual, tactile, orcombinations thereof. In one aspect, the controller 40578 may output awarning on the display 40625. In addition to communicating the presenceof a shorting risk to the surgeon, the controller 40578 may beconfigured to identify and inform of the location of the risk, the risklevel, device changes in response to risk, and/or providerecommendations for surgeon action. In other aspects, the controller40578 may be configured to communicate aggregated information to asimple yes/no, good/bad, ready to fire, etc. type concise communication.In other aspects, the controller 40578 may be configured to notcommunicate to the surgeon, but rather manage the shorting events orpotential risks of sorting appropriately.

RF Arcing Detection

In one aspect, the controller 40578 may be configured to monitor theelectrode 40500 or segments of the electrode 40500 ₁₋₄ to detect RFarcing. Arc detection may be implemented by the controller 40578monitoring the operation and functionality of the surgical instrument1000. Potential arc detection/risk factors include excessive AC rippleon the base RF waveform. Accordingly, in one aspect, the controller40578 or the RF generator 40574 may be configured to monitor excessiveAC ripple on the base RF waveform. In another aspect, the controller40578 may be configured to measure the RF current and determine thepotential arc detection/risk by measuring an increasing current Δdi/dt.In addition to or alternatively, the controller 40578 may be configuredto monitor corona glow by employing an optical detector to make opticalmeasurements. In one aspect, optical measurements may be made using alaparoscopic camera and monitoring specific frequencies in the visible,infrared (IR), or other portions of the electromagnetic spectrum. In oneaspect, such optical measurement techniques may be integration into asurgical hub architecture. Other RF arcing detection techniques include,without limitation, configuring the controller 40578 to detect negativeincremental resistance, which causes the electrical resistance todecrease as the arc temperature increases. Other environmental factorsthat may cause or exacerbate RF arcing that the controller 40578 may betaken into account in the configuration of the controller 40578 includemonitoring a variety of sensors coupled to the controller to measurehumidity, atmospheric pressure, temperature, or combinations thereof.Potential measurement tools include probes on the surgical instrument1000 or the end effector 1300, other devices or measurements taken inthe operating room or coupled to a surgical hub, laparoscopes, etc.

The description now turns to several plots that depict electricalparameters associated with RF arcing. FIG. 229 is a graphical depiction41400 of impedance 41402, voltage 41406, and current 41408 versus time(t), in accordance with at least one aspect of the present disclosure.At the time of the arc point 41410 an excess di/dt (current versus time)results in a steep rising current 41408 versus time (t) slope 41412 anda rapid decrease in impedance −dZ/dt (negative impedance versus time)results in a steep falling impedance 41402 versus time (t) slope 41414.This may be referred to as a negative incremental resistance thatproduces an electric arc. In one aspect, as previously described, thecontroller 40578 may be configured to monitor either the current 41408versus time (t) slope 41412 (di/dt), the impedance 41402 versus timeslope 41414 (−dZ/dt), or a combination thereof to predict the occurrenceof the risk of an electric arc.

FIG. 230 is a graphical depiction 41500 of an electric arcing charge41505 across a 1.8 cm gap in a 0.8 cm² area relative to current 41502and voltage 41506 waveforms, in accordance with at least one aspect ofthe present disclosure. As shown, the current 41502 rapidly increasesuntil the arcing charge 41505 starts to rise. The voltage 41506 risesrapidly and the current 41502 drops. After the electric arc discharge,the voltage 41506 drops rapidly and the current 41502 decreases to zero.

FIG. 231 is a graphical depiction 41600 of electric discharge regimes asa function of voltage versus current, where current (Amps) is along thehorizontal axis and voltage (Volts) is along the vertical axis, inaccordance with at least one aspect of the present disclosure. As shown,the electric discharge starts in the dark regime 41620, transitions tothe glow discharge regime 41622, and then transitions to the arcdischarge regime 41624. In the dark discharge regime 41620, the voltagecurve transitions from background ionization 41602 through a saturationregime 41604 to a corona region 61608. In the glow discharge regime41622, the voltage 41610 drops after it reaches a breakdown voltagepoint and transitions from a normal glow 41618 region to an abnormalglow region. The voltage 41612 rises until it transitions into the arcdischarge regime 41624, at which point there is glow-to-arc transitionwhere the voltage 41614 rapidly drops and creates first a non-thermalarc and then a thermal arc.

FIG. 232 is a graphical depiction 41700 of power (Watts) as a functionof impedance (Ohms) of various tissue types, in accordance with at leastone aspect of the present disclosure. As current 41702 is applied intolow impedance tissue, the power 41704 is relatively low. As the tissueimpedance starts to increase, the power 41704 increases until theimpedance reaches ˜1000 Ohms. At which point the power 41704 starts todecrease exponentially with increasing tissue impedance. As shown, thetissue impedance of prostate tissue 41706 in nonconductive solution isin the range of ˜10 Ohms to ˜1500 Ohms as energy is applied. Theimpedance of liver and muscle tissue 41708 is in the range of ˜500 Ohmsto ˜1900 Ohms as energy is applied. The impedance of bowel tissue 41710is in the range of ˜1200 Ohms to ˜2400 Ohms as energy is applied. Theimpedance of gall bladder tissue 41712 is in the range of ˜1700 to ˜3000Ohms as energy is applied. The impedance of mesentery omentum tissue41714 is in the range of ˜2600 Ohms to ˜3600 Ohms as energy is applied.The impedance of fat, scar, or adhesion tissue 41716 is in the range of˜3000 Ohms to ˜4000 Ohms as energy is applied.

In various aspects, the controller 40578 may be configured to detect anelectric arc discharge in real time. Multiple frequencies may beemployed to detect the tissue state as indicated in FIG. 232. Real timedetection of electric arc discharges in real time can speed updiagnostics and can be configured to provide real time diagnostics in atissue environment (pressure, moisture content) for different tissues asshown in FIG. 232, for example.

FIG. 233 is a logic flow diagram of a method 41900 of detecting a shortcircuit in the jaws 1310, 1320 (40524) of an end effector 1300 of asurgical instrument 1000 (see FIGS. 1-6 and 213-218), in accordance withat least one aspect of the present disclosure. With reference also toFIGS. 6 and 213-218, in accordance with the method 41900, the memory40624 may store a set of executable instructions that when executedcause to processor 40622 to execute the method 41900. In accordance withthe method 41900, the processor 40622 causes the RF generator 40574 toapply 41902 a sub-therapeutic electrical signal to an electrode 40500located in the jaw 1320 (40524) of the end effector 1300 to detect ashort circuit. If the jaw 1320 comprises a single longitudinal electrode1925, the RF generator 40574 can apply the sub-therapeutic electricalsignal directly to the single longitudinal electrode 1925. If the jaw40524 comprises a segmented electrode 40500, the processor 40622 selectsone of the segmented electrodes 40500 through the multiplexer 40576 andthen causes the RF generator 40574 to apply the sub-therapeuticelectrical signal to the selected electrode 40500. It should beappreciated that the sub-therapeutic electrical signal is a signal usedto detect a short circuit between the electrode 1925 (40500) and thereturn electrode 1590 (40510) without causing any therapeutic effects onthe tissue grasped in the end effector 1300.

In accordance with the method 41900, based on the signals received bythe processor 40622 after applying the sub-therapeutic electricalsignals, the processor 40622 determines 41904 if the electrode 1925(40500) is shorted to the return electrode 1590 (40510). If theelectrode 1925 (40500) is not shorted, the method 41900 continues alongthe NO path and the processor 40622 causes the RF generator 40574 toapply 41918 therapeutic RF electrical energy to the electrode 1925(40500). In contrast, if the electrode 1925 (40500) is shorted, themethod 41900 continues along the YES path and the processor 40622modifies the electrical current through the shorted electrode 1925(40500). In one aspect, the processor 40622 limits 41906 the electricalcurrent through the shorted electrode 1925 (40500). In one aspect, ifthe jaw 1320 comprises a single electrode 1925, the processor 40622causes the RF generator 40574 to limit 41906 the output current. Inanother aspect, if the jaw 40524 comprises a segmented electrode 40500,the processor 40622 through the multiplexer 40576 selectively redirects41908 the current path around the shorted electrode 40500 through thecurrent limiter Z coupled to a distal electrode segment. In either case,the processor 40622 causes the display 40625 to display 41910information about the detected shorted electrode 1925 (40500) to thesurgeon or other members of the surgical team.

In accordance with the method 41900, the processor 40622 determines41912 if the electrode 1925 (40500) is still shorted. If the electrode1925 (40500) is still shorted, the method 41900 continues along the YESpath and the processor 40622 continues to limit 41906 or redirect 41908the electrical current applied to the shorted electrode 1925 (40500). Ifthe electrode 1925 (40500) is no longer shorted, the method 41900continues along the NO branch and the processor 40622 removes 41914 theelectrical current limit restriction through the electrode 1925 (40500)or removes 41918 the electrical current redirection around the electrode1925 (40500). The processor 40622 then causes the RF generator 40574 toapply 41918 therapeutic RF electrical energy to the electrode 1925(40500).

FIG. 234 is a logic flow diagram of a method 42000 of detecting a shortcircuit in the jaws 1310, 1320 (40524) of an end effector 1300 of asurgical instrument 1000 (see FIGS. 1-6 and 213-218), in accordance withat least one aspect of the present disclosure. With reference also toFIGS. 6 and 213-218, in accordance with the method 42000, the memory40624 may store a set of executable instructions that when executedcause to processor 40622 to execute the method 42000. In accordance withthe method 42000, the processor 40622 causes the multiplexer 40576 toselect 42002 an electrode 40500 ₁₋₄ in an array of segmented electrodes40500. The processor 40622 causes the RF generator 40574 to apply 42004a sub-therapeutic electrical signal to the selected electrode 40500 ₁₋₄located in the jaw 40524 of the end effector 1300 to detect a shortcircuit.

In accordance with the method 42000, based on the signals received bythe processor 40622 after applying the sub-therapeutic electricalsignals, the processor 40622 determines 42006 if the selected electrode40500 ₁₋₄ is shorted to the return electrode 40510. If the selectedelectrode 40500 ₁₋₄ is not shorted, the method 42000 continues along theNO path and the processor 40622 selects 42008 the next electrode 40500₁₋₄ in the array of electrodes 40500 through the multiplexer 40576 andthen tests the newly selected electrode 40500 ₁₋₄ until all segmentedelectrodes 40500 ₁₋₄ have been tested for shorts. If any one of theselected electrodes 40500 ₁₋₄ is shorted, the method 42000 continuesalong the YES path and the processor 40622 modifies the electricalcurrent through the shorted electrode 40500 ₁₋₄. In one aspect, theprocessor 40622 selectively modifies the current through the shortedelectrode 40500 ₁₋₄ through the multiplexer 40576 either to limit 42010the electrical current through the shorted selected electrode 40500 ₁₋₄or redirect 42012 electrical current around the shorted electrode 40500₁₋₄. the causes the RF generator 40574 to apply 41918 therapeutic RFelectrical energy to the selected electrode 40500 ₁₋₄. In one aspect,the processor 40622 through the multiplexer 40576 redirects 41908 thecurrent path around the shorted electrode 40500 through the currentlimiter Z coupled to a distal electrode segment. In either case, theprocessor 40622 causes the display 40625 to display 42014 informationabout the detected shorted electrode 40500 ₁₋₄ to the surgeon or othermembers of the surgical team.

In accordance with the method 42000, the processor 40622 determines42016 if the selected electrode 40500 ₁₋₄ is still shorted. If theselected electrode 40500 ₁₋₄ is still shorted, the method 42000continues along the YES path and the processor 40622 continues to limit42010 or redirect 42012 the electrical current to the shorted selectedelectrode 40500 ₁₋₄. If the selected electrode 40500 ₁₋₄ is no longershorted, the method 42000 continues along the NO branch and theprocessor 40622 removes 42018 the electrical current limit restrictionthrough the selected electrode 40500 ₁₋₄ or removes 42020 the electricalcurrent redirection around the selected electrode 40500 ₁₋₄. Theprocessor 40622 then causes the RF generator 40574 to apply 42022therapeutic RF electrical energy to the selected electrode 40500 ₁₋₄.

In various aspects, the processor 40622 determines 42006 if theelectrode 1925 (40500) is shorted to the return electrode 1590 (40510)as described in FIG. 233 or determines 42006 if the selected electrode40500 ₁₋₄ is shorted to the return electrode 40510 as described in FIG.234 using the techniques described in FIGS. 219-228D. For example, withreference to FIGS. 219-222, the processor 40622 may be configured todistinguish a shorted electrode from low impedance tissue. In oneaspect, with reference to 219-220, the processor 40622 controls the RFgenerator 40574 to apply a sequence of exploratory pulse waveforms 41000to the electrode 1925 (40500). In one aspect, the exploratory pulses areapplied prior to firing or delivering therapeutic RF energy to sealtissue grasped between the jaws 1320 (40524), 1310 of the end effector1300. The processor 40622 monitors the exploratory waveforms 41000 anddetermines that an electrode 1925 (40500) is shorted when the pulsedcurrent waveform 41002 increases to a maximum value (e.g., i_(max)≥3 A)and at the same time the pulsed power waveform 41004 decreases to aminimum value (e.g., p_(min)≤2 W), the pulsed voltage waveform 41006decreases to a minimum value (e.g., v_(min)≤0.6 V), and the pulsedimpedance waveform 41008 decreases to a minimum value less than 1 Ohm(e.g., Z_(min)≤0.2 Ohms). The processor 40622 distinguishes a shortedelectrode 1925 (40500) from low impedance tissue as described inconnection with FIGS. 221-222 when the tissue impedance is approximatelyin the range of 1Ω to 3Ω. As shown in FIG. 221, the value of theexploratory pulsed current waveform 41012 applied the low impedancetissue increases to about 2.8 A while the exploratory pulsed voltagewaveform 41016 drops to about 5V and the exploratory pulsed powerwaveform 41014 drops to about 20 W. Testing of the RF generator 40574identified tissue impedance Z<1Ω as a short circuit compared to lowimpedance tissue impedance, which has been identified as ˜2Ω and in therange of 1Ω to 3Ω.

Dual Energy Modality Combination Surgical Instrument

With reference to FIGS. 1-6 and 213-218, in one aspect, the surgicalinstrument 1000 may be configured as a dual energy modality combinationenergy device with switchable/blendable energy modalities. Thecontroller 40578 is configured to adapt energy modality(monopolar/bipolar) RF endocutter based on shorting or other tissueresistance, impedance, or irregularity. In one aspect, the surgicalinstrument 1000 RF endocutter may be configured to apply monopolar orbipolar RF energy to the segmented electrodes 40500. In one aspect, thepower level and percentage of each energy modality may be adjusted basedon the low resistance tissue conditions detected by the controller40578. As previously described, the controller 40578 comprises a memory40624 storing executable instructions and a processor 40622 configuredto execute the instructions and adjust energy modalities. In one aspect,the processor 40622 may be configured to interchange the energymodalities from bipolar to monopolar RF, blend the two energymodalities, or blend certain electrode segments 40500 ₁₋₄ only. In oneaspect, the processor 40622 may be configured to independently controlthe electrode segments 40500 ₁₋₄ to switch together as a group or asindividual electrode segments 40500 ₁₋₄ on a segment-by-segment basis.

As described in connection with FIGS. 213-228D, the controller 40578 maybe configured to determine the difference between a shorting event and alow impendence tissue event for use in controlling or switching theenergy modalities. In one aspect, the controller 40578 may be configuredto blend or switch the energy modality to prevent shorting of thesegmented electrodes 40500 ₁₋₄ by metallic contact. In one aspect, thecontroller 40578 may be configured to determine that a segment of anelectrode 40500 ₁₋₄ is shorted by the presence of a metallic staplewithin the jaws 1310, 1320 (40524) of the end effector 1300 or by thejaws 1310, 1320 (40524) physically touching one another. Upondetermining that there is a shorting event, the controller 40578 firstblends the energy modality and then switches the energy modality frombipolar to monopolar if blending the energy modalities does not resolvethe short circuit event below an arcing discharge (e.g., sparking)threshold as described above in connection with FIGS. 229-232.

In one aspect, for example, if the controller 40578 determines thatmonopolar and bipolar return paths 40510 are open simultaneously,blending will not occur as desired because energy will take the path ofleast resistance, which may bypass the desired energy modality path.Therefore, the processor 40622 may be configured to selectively controlthe multiplexer 40576 to switch between monopolar/bipolar energy pathsas necessary, such that the energy modality return paths are not opensimultaneously. The processor 40622 can consider blending the energymodalities at the time in which active switching is occurring.

In one aspect, the processor 40622 may alternate active switching(energy modality blending) between bipolar and monopolar in accordancewith the following technique. During bipolar energization, the processor40622 through the multiplexer 40576 opens the bipolar energy return path40510 with all the electrodes 40500 ₁₋₄ turned on and any shortedelectrodes 40500 ₁₋₄ turned off During monopolar energization, theprocessor 40622 through the multiplexer 40576 opens the monopolar returnpath with only the shorted active electrode 40500 ₁₋₄ turned on. Inanother aspect, during monopolar energization, the processor 40622through the multiplexer 40576 opens the monopolar return path with allelectrodes 40550 ₁₋₄ turned on.

In another aspect, the processor 40622 may be configured to adjustenergy modality or balance based on sensed tissue impedance limit. Theprocessor 40622 may be configured to sense a parameter of the tissuegrasped within the jaws 1310, 1320 (40524) of the end effector 1300 tointerrogate if a conductive element or other metallic object is locatedwithin the tissue in the jaws 1310, 1320 (40524). As discussed above inconnection with FIGS. 213-228D, the controller 40578 may be configuredto apply several exploratory pulse waveforms of non-therapeutic energyto the electrodes 40500 ₁₋₄ during a pre-energy activation cycle. Theexploratory pulses may be are applied prior to firing or deliveringtherapeutic RF energy to seal the tissue. The RF exploratory pulsewaveforms may comprise multiple high frequency waves transmitted throughthe electrodes 40500 ₁₋₄. The return signal may be employed to determinevarious tissue parameters including the type of cutting/coagulationdesired such as electrosurgical cutting, fulguration, desiccation, ortime based. In one aspect, the processor 40622 may employ the impedancereadings to determine the tissue type as described above in connectionwith FIG. 232. In one aspect, the initial power settings may be based onknown tissue parameters and subsequent pow retting may be adapted basedon measurements or readings of tissue impedance, for example.

In one aspect, tissue parameters may be sensed utilizing ferroelectricceramic materials. Ferroelectricity is a characteristic of certainmaterials that have a spontaneous electric polarization (P) that can bereversed by the application of an external electric field (E). Threeexamples of spontaneous electric polarization by ferroelectric ceramicmaterials are shown in FIGS. 235-237. FIG. 235 shows a dielectricpolarization plot 41800 where polarization (P) is a linear 41802function of external electric field (E), in accordance with at leastaspect of the present disclosure. FIG. 236 shows a paraelectricpolarization plot 41820 where polarization (P) is a non-linear 41822function of external electric field (E) exhibiting a sharp transitionfrom negative to positive polarization at the origin, in accordance withat least aspect of the present disclosure. FIG. 237 shows ferroelectricpolarization plot 41840 where polarization (P) is a non-linear 41842function of external electric field (E) exhibiting hysteresis around theorigin, in accordance with at least aspect of the present disclosure.Examples of ferroelectric ceramic materials include, barium titanate,ceramics incorporated with a metallic wire, or ceramic coatings appliedon staples. Barium titanate is a ceramic with dielectric constant valuesas high as 7,000. Over a narrow temperature range, values as high as15,000 are possible.

FIG. 238 is logic flow diagram of a method 43000 of adapting energymodality due to a short circuit or tissue type grasped in the jaws 1310,1320 (40524) of an end effector 1300 of a surgical instrument 1000, inaccordance with at least one aspect of the present disclosure. Withreference also to FIGS. 6 and 213-218, in one aspect, the processor40622 selects 43002 an electrode 40500 ₁₋₄ in an array of segmentedelectrodes 40500 through the multiplexer 40576. During a pre-energyactivation cycle, the processor 40622 causes the RF generator 4074 toapply 43004 a sub-therapeutic electrical signal to the selectedelectrode 40500 ₁₋₄ to differentiate between a shorted electrode and lowimpedance tissue grasped in the jaws 1310, 1320 (40524) of the endeffector 1300. Based on a measured parameter received by the processor40622 after applying the sub-therapeutic electrical signal, theprocessor 40622 determines 43006 if the selected electrode 40500 ₁₋₄ isshorted.

In accordance with the method 43000, if the selected electrode 40500 ₁₋₄is shorted, the method 43000 proceeds along the YES path and theprocessor 40622 causes the RF generator 40574 to blend 43008 monopolarand bipolar RF energy. After a period of time of applying blendedmonopolar and bipolar RF energy, the processor 40622 determines 43010 ifthe selected electrode 40500 ₁₋₄ is still shorted. If the selectedelectrode 40500 ₁₋₄ is still shorted the method 43000 proceeds along theYES path and the processor 40622 switches 43012 the output energy of theRF generator 40574 between monopolar and bipolar RF energy through themultiplexer 40576 and continues determining 43010 if the selectedelectrode is still shorted.

In accordance with the method 43000, when the processor 40622 determines43006, 43010 that the selected electrode 40500 ₁₋₄ is no longer shorted,the method 43000 proceeds along the NO path and the processor 40622senses 43014 parameters of tissue grasped within the jaws 1310, 1320(40524) of the end effector 1300. As described above in connection withFIG. 232, the processor 40622 determines 43016 the type of tissue basedon the sensed tissue parameter such as impedance or other measuredparameters. As described in connection with FIG. 33, the tissueimpedance of prostate tissue 41706 in nonconductive solution is in therange of ˜10 Ohms to ˜1500 Ohms as energy is applied. The impedance ofliver and muscle tissue 41708 is in the range of −500 Ohms to ˜1900 Ohmsas energy is applied. The impedance of bowel tissue 41710 is in therange of ˜1200 Ohms to ˜2400 Ohms as energy is applied. The impedance ofgall bladder tissue 41712 is in the range of ˜1700 to ˜3000 Ohms asenergy is applied. The impedance of mesentery omentum tissue 41714 is inthe range of ˜2600 Ohms to ˜3600 Ohms as energy is applied. Theimpedance of fat, scar, or adhesion tissue 41716 is in the range of˜3000 Ohms to ˜4000 Ohms as energy is applied. Once the type of tissueis determined 43016, the processor 40622 determines 443018 a suitableprocedure for cutting/coagulation based on the tissue type and applies43200 the determined cutting/coagulation procedure to the tissue.

Accordingly, during the execution of the method 4300 and the applicationof the RF monopolar or bipolar RF energy, the processor 40622 controlsthe power level and/or percentage of each energy modality and adjuststhe power level and percentage of each energy modality based on the lowresistance tissue conditions detected. The processor 40622 may adjustenergy modality by switching between bipolar to monopolar, blending ofthe two energy modalities, or blending a subset of the electrodesegments 40500 ₁₋₄, In other aspects, the processor 40622 is configuredto independently control the electrode segments 40500 ₁₋₄ to switchtogether as a group or as an individual segment-by-segment process.

Controlled Reaction to RF Shorting from Previous Staple Line

FIG. 239 illustrates a staple 44300 comprising a crown 44302 defining abase 44301 and deformable legs 44304, 44306 extending from each end ofthe base 44301, in accordance with at least one aspect of the presentdisclosure. Similar to the above, the staple cartridge recesses can beconfigured to guide and/or deform the legs 44304, 44306 when theycontact the stapler cartridge. In one aspect, the crown 44302 includes amaterial 44303 disposed on the base 44301, where the material may beovermolded or coated onto the base 44301. As discussed in greater detailbelow, the material 44303 can be comprised of a material such as, forexample, an electrically insulative material, a material having variableelectrical resistance that increases resistance as the staple 44300become heated, or a variable resistance thermally sensitive material,each of which is described in detail hereinbelow. In at least one ofthese aspects, the material 44303 may be formed around a singlecontinuous wire comprising base 44301 and deformable legs 44304, 44306.In other aspects, the deformable legs 44304, 44306 can include separatedeformable members embedded in a material 44303. Further, in variousaspects, the wire comprising the base 44301 can be deformed to providethe recesses and anvils described above.

In one aspect, the controller 40578 may be configured for monitor acontrolled reaction of the staple 44300 due to RF shorting from aprevious staple line. In one aspect, the present disclosure provides aRF endocutter surgical instrument 1000 for use with staples 44300 thathave variable electrical conductivity along their body and in one aspectalong the crown 44302 or base 44301 portion of the crown 44302. In oneaspect the staple 44300 may comprise a portion having a first electricalconductivity and another portion having a second electricalconductivity, where the first and second electrical conductivities aredifferent. In one aspect, the electrical conductivity of the staple44300 may vary based on geometry or material aspects. For example, whenthe staple 44300 is grasped in a shorting condition between the RFelectrode 40524 and the return path 40510 of a energy/staplingcombination device such as the RF endocutter surgical instrument 1000,the variable conductivity prevents the staple 44300 from shortingelectrodes 40500 against each other. In various other aspects, theelectrical conductivity of the staple 44300 may be based on thetemperature of the staple 44300, electrical current through the staple44300, or a portion of the staple 44300, such as the base 44301 or otherportion of the crown 44302, having a high dielectric breakdowncoefficient.

In various aspects, the present disclosure provides various stapleconfigurations to minimize the chance of shorting by modifying oradjusting the electrical conductivity of the staple 44300. In oneaspect, the staple 44300 may be configured such that a non-bendablecrown 44302 portion of the staple 44300 is electrically insulated tominimize the likelihood that the next firing results in shorting whilethe end effector 1300 is clamped across a previously deployed staple44300 embedded in the tissue. In one aspect, the non-bendable crown44302 portion of the staple 44300 may be formed of an electricallyinsulative material or may comprise an absorbable polymer to minimizeshorting. In other aspects, an absorbable insulating material may doubleas a driver to eliminate the driver in the cartridge stack of the endeffector 1300.

In various aspects of the present disclosure, the crown 4132 portion ofor the entire staple 44300 may comprise electrically insulative portionsformed of electrically insulative materials or may comprise anelectrically insulative material 44303 overmolded onto the base 44301 ofthe staple 44300. In one aspect, the electrically insulative material44303 may be overmolded over the crown 44302, or base 44301, of thestaple 44300. In one aspect, the electrically insulative material 44303may be overmolded or applied to the staple 44300 in the form of acoating having a thickness in the range of 0.0005 inches to 0.0015inches and typically about 0.001 inches. In one aspect, the staple 44300may be overmolded onto the crown 44302 portion or base portion 44301 ofthe staple 44300 with a lactide and glycolide copolymer plus calciumstearate coating similar to the material known under the common nameVikryl. The thickness of the coating material 44303 may be in the rangeof 0.0005 inches to 0.0015 inches and typically about 0.001 inches.

In various aspects of the present disclosure, the crown 44302 portion ofthe staple 44300 or the entire staple 44300 may be dipped or coated in apolyimide material 44303 such as, for example, a polyimide film knownunder the common name Kapton developed by DuPont. Polyimide provideshigh dielectric strength to resist shorts. Various polyimide materials44303 that are suitable candidates for coating or dipping the staple44300 are described in U.S. Pat. No. 6,686,437 titled MEDICAL IMPLANTSMADE OF WEAR-RESISTANT, HIGH-PERFORMANCE POLYIMIDE, PROCESS OF MAKINGSAME AND MEDICAL USE OF SAME, which is herein incorporated by reference.Other polyimide materials for dipping or coating the staple 44300include, without limitation, a polymer known under the common nameParylene C, which has a high dielectric strength of approximately 6800 Vand may be applied by vapor deposition.

In various aspects of the present disclosure, the crown 44302 portion,or base 44301 portion, of the staple 44300 or the entire staple 44300may comprise ferroelectric ceramic materials 44303. Ferroelectricmaterials 44303 may be characterized as having a spontaneous electricpolarization that can be reversed by the application of an externalelectric field, as described in FIGS. 235-237, for example. In oneaspect, metal detector coils may be embedded in the jaw 1310 of the endeffector 1300 that is opposed to the jaw 1320 (40524) comprising theelectrodes 1925, 40500. In this configuration, the embedded metaldetector coils may be energized to induce an electric field in thestaple to cause a polarization change of the ferroelectric material. Thepolarization change of the ferroelectric material lowers the electricalconductivity of the staple 44300 and thereby prevent the staple 44300from short circuiting. Other ferroelectric materials 44303 include,without limitation, barium titanate and lead zirconate titanate. Bariumtitanate is a ceramic material 44303 having dielectric constant valuesas high as approximately 7,000. Over a narrow temperature range,dielectric constant values as high as 15,000 may be achievable.

In various aspects of the present disclosure, the crown 44302 portion,or the base 44301 portion, of or the entire staple 44300 may comprise aPolyisobutene material 44303, a class of organic polymers prepared bypolymerization of isobutene. Examples of Polyisobutene materials 44303that may be employed are described in U.S. Pat. No. 8,927,660 titledCROSSLINKABLE POLYISOBUTYLENE-BASED POLYMERS AND MEDICAL DEVICESCONTAINING THE SAME, which is incorporated herein by reference.

In various aspects, the present disclosure provides a staple 44300 madeof a wire material having an electrical resistance that is temperaturedependent such that electrical resistivity increases as its temperatureincreases to minimize shorting of staples from previous firings.Accordingly, when the staple wire is placed in a short circuitcondition, its temperature increases. The increase in temperatureincreases the electrical resistivity of the staple wire. Accordingly, inone aspect, the staple 44300 may be characterized as a variableelectrical resistance where the resistance increase as the temperatureof the staple increases when the staple is under a short circuitcondition. This characteristic may be realized by making the staple wirefrom a metal/material hybrid such as, for example, the materials used tomake resistance temperature devices (RTDs) or any metal/material thatemploys the resistance/temperature relationship of metals. Accordingly,the variable electrical resistance staple may be made of a length ofwire wrapped around a ceramic core, for example. The temperatureresistive wire may be made of a material, such as platinum, nickel, orcopper, for example. The temperature/resistance relationship of thematerial can be used to increase the electrical resistance of the staple44300 as its temperature increases under a short circuit condition. Thetemperature resistive wire may be housed in a protective layer ofmaterial.

In various aspects, the present disclosure provides a staple wirematerial that increases its electrical resistance based on thetemperature of the staple wire to minimize shorting of staples fromprevious firings. Variable resistance thermally sensitive staples 44300may be employed in the RF endocutter surgical instrument 1000 describedherein. In one aspect, the temperature resistive wire material may bemade of a metallic alloy which has a positive temperature coefficientwhere the electrical resistance increases as a function of temperature.Therefore, as the staple 44300 heats up under a short circuit condition,the electrical resistance of the staple wire increases to minimize theeffects of a short circuit. In addition, the staple wire material hasthe material properties of staples. The staple wire material may besimilar to a light bulb filament where the resistance to electricalcurrent of the metal wire increases as the metal wire gets hotter so itdoes not short and melt. In one aspect, the staple wire may be acobalt-nickel-chromium-molybdenum-tungsten-iron alloy, for example.

The entire disclosures of U.S. Pat. No. 8,070,034, entitled SURGICALSTAPLER WITH ANGLED STAPLE BAYS, which issued on Dec. 6, 2011, U.S. Pat.No. 10,143,474, entitled SURGICAL STAPLER, which issued on Dec. 4, 2018,and U.S. Pat. No. 7,611,038, entitled DIRECTIONALLY BIASED STAPLE ANDANVIL ASSEMBLY FOR FORMING THE STAPLE, which issued on Nov. 3, 2009, areincorporated by reference herein.

The entire disclosures of U.S. Pat. No. 8,424,735, entitled VARIABLECOMPRESSION SURGICAL FASTENER CARTRIDGE, which issued on Apr. 23, 2013,U.S. Pat. No. 7,722,610, entitled MULTIPLE COIL STAPLE AND STAPLEAPPLIER, which issued on May 25, 2010, and U.S. Pat. No. 8,056,789,entitled STAPLE AND FEEDER BELT CONFIGURATIONS FOR SURGICAL STAPLER,which issued on Nov. 15, 2011, are incorporated by reference herein.

The entire disclosure of U.S. Pat. No. 6,843,403, entitled SURGICALCLAMPING, CUTTING AND STAPLING DEVICE, which issued on Jan. 18, 2005, isincorporated by reference herein.

The entire disclosures of U.S. Pat. No. 8,070,034, entitled SURGICALSTAPLER WITH ANGLED STAPLE BAYS, which issued on Dec. 6, 2011, U.S. Pat.No. 10,143,474, entitled SURGICAL STAPLER, which issued on Dec. 4, 2018,and U.S. Pat. No. 7,611,038, entitled DIRECTIONALLY BIASED STAPLE ANDANVIL ASSEMBLY FOR FORMING THE STAPLE, which issued on Nov. 3, 2009, areincorporated by reference herein. The entire disclosures of U.S. Pat.No. 8,424,735, entitled VARIABLE COMPRESSION SURGICAL FASTENERCARTRIDGE, which issued on Apr. 23, 2013, U.S. Pat. No. 7,722,610,entitled MULTIPLE COIL STAPLE AND STAPLE APPLIER, which issued on May25, 2010, and U.S. Pat. No. 8,056,789, entitled STAPLE AND FEEDER BELTCONFIGURATIONS FOR SURGICAL STAPLER, which issued on Nov. 15, 2011, areincorporated by reference herein. The entire disclosure of U.S. Pat. No.6,843,403, entitled SURGICAL CLAMPING, CUTTING AND STAPLING DEVICE,which issued on Jan. 18, 2005, is incorporated by reference herein.

The surgical instrument systems described herein have been described inconnection with the deployment and deformation of staples; however, theembodiments described herein are not so limited. Various embodiments areenvisioned which deploy fasteners other than staples, such as clamps ortacks, for example. Moreover, various embodiments are envisioned whichutilize any suitable means for sealing tissue. For instance, an endeffector in accordance with various embodiments can comprise electrodesconfigured to heat and seal the tissue. Also, for instance, an endeffector in accordance with certain embodiments can apply vibrationalenergy to seal the tissue.

The entire disclosures of:

-   -   U.S. Pat. No. 5,403,312, entitled ELECTROSURGICAL HEMOSTATIC        DEVICE, which issued on Apr. 4, 1995;    -   U.S. Pat. No. 7,000,818, entitled SURGICAL STAPLING INSTRUMENT        HAVING SEPARATE DISTINCT CLOSING AND FIRING SYSTEMS, which        issued on Feb. 21, 2006;    -   U.S. Pat. No. 7,422,139, entitled MOTOR-DRIVEN SURGICAL CUTTING        AND FASTENING INSTRUMENT WITH TACTILE POSITION FEEDBACK, which        issued on Sep. 9, 2008;    -   U.S. Pat. No. 7,464,849, entitled ELECTRO-MECHANICAL SURGICAL        INSTRUMENT WITH CLOSURE SYSTEM AND ANVIL ALIGNMENT COMPONENTS,        which issued on Dec. 16, 2008;    -   U.S. Pat. No. 7,670,334, entitled SURGICAL INSTRUMENT HAVING AN        ARTICULATING END EFFECTOR, which issued on Mar. 2,2010;    -   U.S. Pat. No. 7,753,245, entitled SURGICAL STAPLING INSTRUMENTS,        which issued on Jul. 13, 2010;    -   U.S. Pat. No. 8,393,514, entitled SELECTIVELY ORIENTABLE        IMPLANTABLE FASTENER CARTRIDGE, which issued on Mar. 12, 2013;    -   U.S. patent application Ser. No. 11/343,803, entitled SURGICAL        INSTRUMENT HAVING RECORDING CAPABILITIES, now U.S. Pat. No.        7,845,537;    -   U.S. patent application Ser. No. 12/031,573, entitled SURGICAL        CUTTING AND FASTENING INSTRUMENT HAVING RF ELECTRODES, filed        Feb. 14, 2008;    -   U.S. patent application Ser. No. 12/031,873, entitled END        EFFECTORS FOR A SURGICAL CUTTING AND STAPLING INSTRUMENT, filed        Feb. 15, 2008, now U.S. Pat. No. 7,980,443;    -   U.S. patent application Ser. No. 12/235,782, entitled        MOTOR-DRIVEN SURGICAL CUTTING INSTRUMENT, now U.S. Pat. No.        8,210,411;    -   U.S. patent application Ser. No. 12/235,972, entitled MOTORIZED        SURGICAL INSTRUMENT, now U.S. Pat. No. 9,050,083.    -   U.S. patent application Ser. No. 12/249,117, entitled POWERED        SURGICAL CUTTING AND STAPLING APPARATUS WITH MANUALLY        RETRACTABLE FIRING SYSTEM, now U.S. Pat. No. 8,608,045;    -   U.S. patent application Ser. No. 12/647,100, entitled        MOTOR-DRIVEN SURGICAL CUTTING INSTRUMENT WITH ELECTRIC ACTUATOR        DIRECTIONAL CONTROL ASSEMBLY, filed Dec. 24, 2009, now U.S. Pat.        No. 8,220,688;    -   U.S. patent application Ser. No. 12/893,461, entitled STAPLE        CARTRIDGE, filed Sep. 29, 2012, now U.S. Pat. No. 8,733,613;    -   U.S. patent application Ser. No. 13/036,647, entitled SURGICAL        STAPLING INSTRUMENT, filed Feb. 28, 2011, now U.S. Pat. No.        8,561,870;    -   U.S. patent application Ser. No. 13/118,241, entitled SURGICAL        STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT        ARRANGEMENTS, now U.S. Pat. No. 9,072,535;    -   U.S. patent application Ser. No. 13/524,049, entitled        ARTICULATABLE SURGICAL INSTRUMENT COMPRISING A FIRING DRIVE,        filed on Jun. 15, 2012, now U.S. Pat. No. 9,101,358;    -   U.S. patent application Ser. No. 13/800,025, entitled STAPLE        CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM, filed on Mar. 13,        2013, now U.S. Pat. No. 9,345,481; U.S. patent application Ser.        No. 13/800,067, entitled STAPLE CARTRIDGE TISSUE THICKNESS        SENSOR SYSTEM, filed on Mar. 13, 2013, now U.S. Patent        Application Publication No. 2014/0263552;    -   U.S. Patent Application Publication No. 2007/0175955, entitled        SURGICAL CUTTING AND FASTENING INSTRUMENT WITH CLOSURE TRIGGER        LOCKING MECHANISM, filed Jan. 31, 2006; and    -   U.S. Patent Application Publication No. 2010/0264194, entitled        SURGICAL STAPLING INSTRUMENT WITH AN ARTICULATABLE END EFFECTOR,        filed Apr. 22, 2010, now U.S. Pat. No. 8,308,040, are hereby        incorporated by reference herein.

Examples

Example 1—A surgical instrument assembly comprising a shaft, an endeffector, a drive member configured to actuate a function of the endeffector, an articulation member configured to be actuated to articulatethe end effector, and an articulation region, wherein the articulationmember is configured to articulate the end effector relative to theshaft by way of the articulation region, wherein the drive memberextends through the shaft, the articulation region, and the endeffector, and wherein the articulation region comprises an articulationsupport pivot positioned within the articulation region, wherein thearticulation member is coupled to the articulation support pivot,wherein the articulation member is actuatable to rotate the articulationsupport pivot, and wherein the drive member extends through thearticulation support pivot.

Example 2—The surgical instrument assembly of Example 1, wherein thedrive member is configured to be supported laterally by the articulationsupport pivot upon the articulation of the end effector.

Example 3—The surgical instrument assembly of Examples 1 or 2, whereinthe drive member comprises a linearly translatable drive member.

Example 4—The surgical instrument assembly of Examples 1, 2, or 3,wherein the drive member comprises a rotary drive member.

Example 5—The surgical instrument assembly of Examples 1, 2, 3, or 4,wherein the articulation member comprises a first articulation member,and wherein the surgical instrument assembly further comprises a secondarticulation member, wherein the articulation region further comprisesan actuation pin coupled to the first articulation member, the secondarticulation member, and the articulation support pivot.

Example 6—The surgical instrument assembly of Example 5, wherein thefirst articulation member and the second articulation member comprise anantagonistic actuation stroke.

Example 7—The surgical instrument assembly of Examples 1, 2, 3, 4, 5, or6, wherein the shaft defines a longitudinal axis, wherein thearticulation support pivot comprises a cylindrical body portion defininga central axis, and wherein the central axis is transverse to thelongitudinal axis.

Example 8—The surgical instrument assembly of Examples 1, 2, 3, 4, 5, 6,or 7, wherein the articulation support pivot comprises a longitudinalpassageway defined therethrough, wherein the drive member extendsthrough the longitudinal passageway.

Example 9—A surgical instrument assembly comprising a shaft, an endeffector, a drive member configured to actuate a function of the endeffector, an articulation member configured to be actuated to articulatethe end effector, and an articulation joint, wherein the articulationmember is configured to articulate the end effector relative to theshaft about the articulation joint, wherein the drive member extendsthrough the shaft, the articulation joint, and the end effector, andwherein the articulation joint comprises a cylindrical support body,wherein the articulation member is coupled to the cylindrical supportbody, wherein the articulation member is actuatable to rotate thecylindrical support body about a central axis defined by the cylindricalsupport body, and wherein the drive member extends through thecylindrical support body.

Example 10—The surgical instrument assembly of Example 9, wherein thedrive member is configured to be supported laterally by the cylindricalsupport body.

Example 11—The surgical instrument assembly of Examples 9 or 10, whereinthe drive member comprises a linearly translatable drive member.

Example 12—The surgical instrument assembly of Examples 9, 10, or 11,wherein the drive member comprises a rotary drive member.

Example 13—The surgical instrument assembly of Examples 9, 10, 11, or12, wherein the articulation member comprises a first articulationmember, and wherein the surgical instrument assembly further comprises asecond articulation member, wherein the articulation joint furthercomprises an actuation pin coupled the first articulation member, thesecond articulation member, and the cylindrical support body.

Example 14—The surgical instrument assembly of Example 13, wherein thefirst articulation member and the second articulation member comprise anantagonistic actuation stroke.

Example 15—The surgical instrument assembly of Examples 9, 10, 11, 12,13, or 14, wherein the shaft defines a longitudinal axis, and whereinthe central axis is transverse to the longitudinal axis.

Example 16—The surgical instrument assembly of Examples 9, 10, 11, 12,13, 14, or 15, wherein the shaft is attached to the end effector by wayof a pin.

Example 17—The surgical instrument assembly of Example 16, wherein theshaft, the end effector, and the cylindrical support body are coupled toeach other by the pin.

Example 18—A surgical instrument assembly comprising a shaft defining alongitudinal axis, an end effector pivotally attached to the shaft, adrive member configured to actuate a function of the end effector, anarticulation member configured to articulate the end effector relativeto the shaft, and a cylindrical support body positioned between theshaft and the end effector, wherein the articulation member is attachedto the cylindrical support body, wherein the articulation member isactuatable to rotate the cylindrical support body about a central axisdefined by the cylindrical support body to articulate the end effectorrelative to the shaft, wherein the drive member extends through thecylindrical support body, the shaft, and the end effector, and whereinthe drive member is configured to prevent the cylindrical support bodyfrom being laterally slid out of engagement between the shaft and theend effector.

Example 19—The surgical instrument assembly of Example 18, wherein thearticulation member comprises a first articulation member, and whereinthe surgical instrument assembly further comprises a second articulationmember, wherein the articulation joint further comprises an actuationpin coupled the first articulation member, the second articulationmember, and the cylindrical support body.

Example 20—The surgical instrument assembly of Example 19, wherein thefirst articulation member and the second articulation member comprise anantagonistic actuation stroke.

Although various devices have been described herein in connection withcertain embodiments, modifications and variations to those embodimentsmay be implemented. Particular features, structures, or characteristicsmay be combined in any suitable manner in one or more embodiments. Thus,the particular features, structures, or characteristics illustrated ordescribed in connection with one embodiment may be combined in whole orin part, with the features, structures or characteristics of one or moreother embodiments without limitation. Also, where materials aredisclosed for certain components, other materials may be used.Furthermore, according to various embodiments, a single component may bereplaced by multiple components, and multiple components may be replacedby a single component, to perform a given function or functions. Theforegoing description and following claims are intended to cover allsuch modification and variations.

The devices disclosed herein can be designed to be disposed of after asingle use, or they can be designed to be used multiple times. In eithercase, however, a device can be reconditioned for reuse after at leastone use. Reconditioning can include any combination of the stepsincluding, but not limited to, the disassembly of the device, followedby cleaning or replacement of particular pieces of the device, andsubsequent reassembly of the device. In particular, a reconditioningfacility and/or surgical team can disassemble a device and, aftercleaning and/or replacing particular parts of the device, the device canbe reassembled for subsequent use. Those skilled in the art willappreciate that reconditioning of a device can utilize a variety oftechniques for disassembly, cleaning/replacement, and reassembly. Use ofsuch techniques, and the resulting reconditioned device, are all withinthe scope of the present application.

The devices disclosed herein may be processed before surgery. First, anew or used instrument may be obtained and, when necessary, cleaned. Theinstrument may then be sterilized. In one sterilization technique, theinstrument is placed in a closed and sealed container, such as a plasticor TYVEK bag. The container and instrument may then be placed in a fieldof radiation that can penetrate the container, such as gamma radiation,x-rays, and/or high-energy electrons. The radiation may kill bacteria onthe instrument and in the container. The sterilized instrument may thenbe stored in the sterile container. The sealed container may keep theinstrument sterile until it is opened in a medical facility. A devicemay also be sterilized using any other technique known in the art,including but not limited to beta radiation, gamma radiation, ethyleneoxide, plasma peroxide, and/or steam.

While this invention has been described as having exemplary designs, thepresent invention may be further modified within the spirit and scope ofthe disclosure. This application is therefore intended to cover anyvariations, uses, or adaptations of the invention using its generalprinciples.

The foregoing detailed description has set forth various forms of thedevices and/or processes via the use of block diagrams, flowcharts,and/or examples. Insofar as such block diagrams, flowcharts, and/orexamples contain one or more functions and/or operations, it will beunderstood by those within the art that each function and/or operationwithin such block diagrams, flowcharts, and/or examples can beimplemented, individually and/or collectively, by a wide range ofhardware, software, firmware, or virtually any combination thereof.Those skilled in the art will recognize that some aspects of the formsdisclosed herein, in whole or in part, can be equivalently implementedin integrated circuits, as one or more computer programs running on oneor more computers (e.g., as one or more programs running on one or morecomputer systems), as one or more programs running on one or moreprocessors (e.g., as one or more programs running on one or moremicroprocessors), as firmware, or as virtually any combination thereof,and that designing the circuitry and/or writing the code for thesoftware and or firmware would be well within the skill of one of skillin the art in light of this disclosure. In addition, those skilled inthe art will appreciate that the mechanisms of the subject matterdescribed herein are capable of being distributed as one or more programproducts in a variety of forms, and that an illustrative form of thesubject matter described herein applies regardless of the particulartype of signal bearing medium used to actually carry out thedistribution.

Instructions used to program logic to perform various disclosed aspectscan be stored within a memory in the system, such as dynamic randomaccess memory (DRAM), cache, flash memory, or other storage.Furthermore, the instructions can be distributed via a network or by wayof other computer readable media. Thus a machine-readable medium mayinclude any mechanism for storing or transmitting information in a formreadable by a machine (e.g., a computer), but is not limited to, floppydiskettes, optical disks, compact disc, read-only memory (CD-ROMs), andmagneto-optical disks, read-only memory (ROMs), random access memory(RAM), erasable programmable read-only memory (EPROM), electricallyerasable programmable read-only memory (EEPROM), magnetic or opticalcards, flash memory, or a tangible, machine-readable storage used in thetransmission of information over the Internet via electrical, optical,acoustical or other forms of propagated signals (e.g., carrier waves,infrared signals, digital signals, etc.). Accordingly, thenon-transitory computer-readable medium includes any type of tangiblemachine-readable medium suitable for storing or transmitting electronicinstructions or information in a form readable by a machine (e.g., acomputer).

As used in any aspect herein, the term “control circuit” may refer to,for example, hardwired circuitry, programmable circuitry (e.g., acomputer processor including one or more individual instructionprocessing cores, processing unit, processor, microcontroller,microcontroller unit, controller, digital signal processor (DSP),programmable logic device (PLD), programmable logic array (PLA), orfield programmable gate array (FPGA)), state machine circuitry, firmwarethat stores instructions executed by programmable circuitry, and anycombination thereof. The control circuit may, collectively orindividually, be embodied as circuitry that forms part of a largersystem, for example, an integrated circuit (IC), an application-specificintegrated circuit (ASIC), a system on-chip (SoC), desktop computers,laptop computers, tablet computers, servers, smart phones, etc.Accordingly, as used herein “control circuit” includes, but is notlimited to, electrical circuitry having at least one discrete electricalcircuit, electrical circuitry having at least one integrated circuit,electrical circuitry having at least one application specific integratedcircuit, electrical circuitry forming a general purpose computing deviceconfigured by a computer program (e.g., a general purpose computerconfigured by a computer program which at least partially carries outprocesses and/or devices described herein, or a microprocessorconfigured by a computer program which at least partially carries outprocesses and/or devices described herein), electrical circuitry forminga memory device (e.g., forms of random access memory), and/or electricalcircuitry forming a communications device (e.g., a modem, communicationsswitch, or optical-electrical equipment). Those having skill in the artwill recognize that the subject matter described herein may beimplemented in an analog or digital fashion or some combination thereof.

As used in one or more aspects of the present disclosure, amicrocontroller may generally comprise a memory and a microprocessor(“processor”) operationally coupled to the memory. The processor maycontrol a motor driver circuit generally utilized to control theposition and velocity of a motor, for example. In certain instances, theprocessor can signal the motor driver to stop and/or disable the motor,for example. In certain instances, the microcontroller may be an LM4F230H5QR, available from Texas Instruments, for example. In at leastone example, the Texas Instruments LM4F230H5QR is an ARM Cortex-M4FProcessor Core comprising on-chip memory of 256 KB single-cycle flashmemory, or other non-volatile memory, up to 40 MHz, a prefetch buffer toimprove performance above 40 MHz, a 32 KB single-cycle serial randomaccess memory (SRAM), internal read-only memory (ROM) loaded withStellarisWare® software, 2 KB electrically erasable programmableread-only memory (EEPROM), one or more pulse width modulation (PWM)modules, one or more quadrature encoder inputs (QEI) analog, one or more12-bit Analog-to-Digital Converters (ADC) with 12 analog input channels,among other features that are readily available for the productdatasheet.

It should be understood that the term processor as used herein includesany suitable microprocessor, or other basic computing device thatincorporates the functions of a computer's central processing unit (CPU)on an integrated circuit or at most a few integrated circuits. Theprocessor is a multipurpose, programmable device that accepts digitaldata as input, processes it according to instructions stored in itsmemory, and provides results as output. It is an example of sequentialdigital logic, as it has internal memory. Processors operate on numbersand symbols represented in the binary numeral system. In at least oneinstance, the processor may be any single core or multicore processorsuch as those known under the trade name ARM Cortex by TexasInstruments. Nevertheless, other suitable substitutes formicrocontrollers and safety processor may be employed, withoutlimitation.

As used in any aspect herein, the term “logic” may refer to an app,software, firmware and/or circuitry configured to perform any of theaforementioned operations. Software may be embodied as a softwarepackage, code, instructions, instruction sets and/or data recorded onnon-transitory computer readable storage medium. Firmware may beembodied as code, instructions or instruction sets and/or data that arehard-coded (e.g., nonvolatile) in memory devices.

As used in any aspect herein, the terms “component,” “system,” “module”and the like can refer to a computer-related entity, either hardware, acombination of hardware and software, software, or software inexecution.

As used in any aspect herein, an “algorithm” refers to a self-consistentsequence of steps leading to a desired result, where a “step” refers toa manipulation of physical quantities and/or logic states which may,though need not necessarily, take the form of electrical or magneticsignals capable of being stored, transferred, combined, compared, andotherwise manipulated. It is common usage to refer to these signals asbits, values, elements, symbols, characters, terms, numbers, or thelike. These and similar terms may be associated with the appropriatephysical quantities and are merely convenient labels applied to thesequantities and/or states.

A network may include a packet switched network. The communicationdevices may be capable of communicating with each other using a selectedpacket switched network communications protocol. One examplecommunications protocol may include an Ethernet communications protocolwhich may be capable permitting communication using a TransmissionControl Protocol/Internet Protocol (TCP/IP). The Ethernet protocol maycomply or be compatible with the Ethernet standard published by theInstitute of Electrical and Electronics Engineers (IEEE) titled “IEEE802.3 Standard”, published in December, 2008 and/or later versions ofthis standard. Alternatively or additionally, the communication devicesmay be capable of communicating with each other using an X.25communications protocol. The X.25 communications protocol may comply orbe compatible with a standard promulgated by the InternationalTelecommunication Union-Telecommunication Standardization Sector(ITU-T). Alternatively or additionally, the communication devices may becapable of communicating with each other using a frame relaycommunications protocol. The frame relay communications protocol maycomply or be compatible with a standard promulgated by ConsultativeCommittee for International Telegraph and Telephone (CCITT) and/or theAmerican National Standards Institute (ANSI). Alternatively oradditionally, the transceivers may be capable of communicating with eachother using an Asynchronous Transfer Mode (ATM) communications protocol.The ATM communications protocol may comply or be compatible with an ATMstandard published by the ATM Forum titled “ATM-MPLS NetworkInterworking 2.0” published August 2001, and/or later versions of thisstandard. Of course, different and/or after-developedconnection-oriented network communication protocols are equallycontemplated herein.

As used in any aspect herein, a wireless transmission such as, forexample, a wireless communication or a wireless transfer of a datasignal can be achieved, by a device including one or more transceivers.The transceivers may include, but are not limited to cellular modems,wireless mesh network transceivers, Wi-Fi® transceivers, low power widearea (LPWA) transceivers, and/or near field communications transceivers(NFC). The device may include or may be configured to communicate with amobile telephone, a sensor system (e.g., environmental, position,motion, etc.) and/or a sensor network (wired and/or wireless), acomputing system (e.g., a server, a workstation computer, a desktopcomputer, a laptop computer, a tablet computer (e.g., iPad®, GalaxyTab®and the like), an ultraportable computer, an ultramobile computer, anetbook computer and/or a subnotebook computer; etc. In at least oneaspect of the present disclosure, one of the devices may be acoordinator node.

The transceivers may be configured to receive serial transmit data viarespective universal asynchronous receiver-transmitters (UARTs) from aprocessor to modulate the serial transmit data onto an RF carrier toproduce a transmit RF signal and to transmit the transmit RF signal viarespective antennas. The transceiver(s) can be further configured toreceive a receive RF signal via respective antennas that includes an RFcarrier modulated with serial receive data, to demodulate the receive RFsignal to extract the serial receive data and to provide the serialreceive data to respective UARTs for provision to the processor. Each RFsignal has an associated carrier frequency and an associated channelbandwidth. The channel bandwidth is associated with the carrierfrequency, the transmit data and/or the receive data. Each RF carrierfrequency and channel bandwidth is related to the operating frequencyrange(s) of the transceiver(s). Each channel bandwidth is furtherrelated to the wireless communication standard and/or protocol withwhich the transceiver(s) may comply. In other words, each transceivermay correspond to an implementation of a selected wireless communicationstandard and/or protocol, e.g., IEEE 802.11a/b/g/n for Wi-Fi® and/orIEEE 802.15.4 for wireless mesh networks using Zigbee routing.

One or more drive systems or drive assemblies, as described herein,employ one or more electric motors. In various forms, the electricmotors may be a DC brushed driving motor, for example. In otherarrangements, the motor may include a brushless motor, a cordless motor,a synchronous motor, a stepper motor, or any other suitable electricmotor. The electric motors may be powered by a power source that in oneform may comprise a removable power pack. Batteries may each comprise,for example, a Lithium Ion (“LI”) or other suitable battery. Theelectric motors can include rotatable shafts that operably interfacewith gear reducer assemblies, for example. In certain instances, avoltage polarity provided by the power source can operate an electricmotor in a clockwise direction wherein the voltage polarity applied tothe electric motor by the battery can be reversed in order to operatethe electric motor in a counter-clockwise direction. In various aspects,a microcontroller controls the electric motor through a motor driver viaa pulse width modulated control signal. The motor driver can beconfigured to adjust the speed of the electric motor either in clockwiseor counter-clockwise direction. The motor driver is also configured toswitch between a plurality of operational modes which include anelectronic motor braking mode, a constant speed mode, an electronicclutching mode, and a controlled current activation mode. In electronicbraking mode, two terminal of the drive motor 200 are shorted and thegenerated back EMF counteracts the rotation of the electric motorallowing for faster stopping and greater positional precision.

Unless specifically stated otherwise as apparent from the foregoingdisclosure, it is appreciated that, throughout the foregoing disclosure,discussions using terms such as “processing,” “computing,”“calculating,” “determining,” “displaying,” or the like, refer to theaction and processes of a computer system, or similar electroniccomputing device, that manipulates and transforms data represented asphysical (electronic) quantities within the computer system's registersand memories into other data similarly represented as physicalquantities within the computer system memories or registers or othersuch information storage, transmission or display devices.

One or more components may be referred to herein as “configured to,”“configurable to,” “operable/operative to,” “adapted/adaptable,” “ableto,” “conformable/conformed to,” etc. Those skilled in the art willrecognize that “configured to” can generally encompass active-statecomponents and/or inactive-state components and/or standby-statecomponents, unless context requires otherwise.

Those skilled in the art will recognize that, in general, terms usedherein, and especially in the appended claims (e.g., bodies of theappended claims) are generally intended as “open” terms (e.g., the term“including” should be interpreted as “including but not limited to,” theterm “having” should be interpreted as “having at least,” the term“includes” should be interpreted as “includes but is not limited to,”etc.). It will be further understood by those within the art that if aspecific number of an introduced claim recitation is intended, such anintent will be explicitly recited in the claim, and in the absence ofsuch recitation no such intent is present. For example, as an aid tounderstanding, the following appended claims may contain usage of theintroductory phrases “at least one” and “one or more” to introduce claimrecitations. However, the use of such phrases should not be construed toimply that the introduction of a claim recitation by the indefinitearticles “a” or “an” limits any particular claim containing suchintroduced claim recitation to claims containing only one suchrecitation, even when the same claim includes the introductory phrases“one or more” or “at least one” and indefinite articles such as “a” or“an” (e.g., “a” and/or “an” should typically be interpreted to mean “atleast one” or “one or more”); the same holds true for the use ofdefinite articles used to introduce claim recitations.

In addition, even if a specific number of an introduced claim recitationis explicitly recited, those skilled in the art will recognize that suchrecitation should typically be interpreted to mean at least the recitednumber (e.g., the bare recitation of “two recitations,” without othermodifiers, typically means at least two recitations, or two or morerecitations). Furthermore, in those instances where a conventionanalogous to “at least one of A, B, and C, etc.” is used, in generalsuch a construction is intended in the sense one having skill in the artwould understand the convention (e.g., “a system having at least one ofA, B, and C” would include but not be limited to systems that have Aalone, B alone, C alone, A and B together, A and C together, B and Ctogether, and/or A, B, and C together, etc.). In those instances where aconvention analogous to “at least one of A, B, or C, etc.” is used, ingeneral such a construction is intended in the sense one having skill inthe art would understand the convention (e.g., “a system having at leastone of A, B, or C” would include but not be limited to systems that haveA alone, B alone, C alone, A and B together, A and C together, B and Ctogether, and/or A, B, and C together, etc.). It will be furtherunderstood by those within the art that typically a disjunctive wordand/or phrase presenting two or more alternative terms, whether in thedescription, claims, or drawings, should be understood to contemplatethe possibilities of including one of the terms, either of the terms, orboth terms unless context dictates otherwise. For example, the phrase “Aor B” will be typically understood to include the possibilities of “A”or “B” or “A and B.”

With respect to the appended claims, those skilled in the art willappreciate that recited operations therein may generally be performed inany order. Also, although various operational flow diagrams arepresented in a sequence(s), it should be understood that the variousoperations may be performed in other orders than those which areillustrated, or may be performed concurrently. Examples of suchalternate orderings may include overlapping, interleaved, interrupted,reordered, incremental, preparatory, supplemental, simultaneous,reverse, or other variant orderings, unless context dictates otherwise.Furthermore, terms like “responsive to,” “related to,” or otherpast-tense adjectives are generally not intended to exclude suchvariants, unless context dictates otherwise.

It is worthy to note that any reference to “one aspect,” “an aspect,”“an exemplification,” “one exemplification,” and the like means that aparticular feature, structure, or characteristic described in connectionwith the aspect is included in at least one aspect. Thus, appearances ofthe phrases “in one aspect,” “in an aspect,” “in an exemplification,”and “in one exemplification” in various places throughout thespecification are not necessarily all referring to the same aspect.Furthermore, the particular features, structures or characteristics maybe combined in any suitable manner in one or more aspects.

In this specification, unless otherwise indicated, terms “about” or“approximately” as used in the present disclosure, unless otherwisespecified, means an acceptable error for a particular value asdetermined by one of ordinary skill in the art, which depends in part onhow the value is measured or determined. In certain embodiments, theterm “about” or “approximately” means within 1, 2, 3, or 4 standarddeviations. In certain embodiments, the term “about” or “approximately”means within 50%, 20%, 15%, 10%, 9%, 8%, 7%, 6%, 5%, 4%, 3%, 2%, 1%,0.5%, or 0.05% of a given value or range.

In this specification, unless otherwise indicated, all numericalparameters are to be understood as being prefaced and modified in allinstances by the term “about,” in which the numerical parameters possessthe inherent variability characteristic of the underlying measurementtechniques used to determine the numerical value of the parameter. Atthe very least, and not as an attempt to limit the application of thedoctrine of equivalents to the scope of the claims, each numericalparameter described herein should at least be construed in light of thenumber of reported significant digits and by applying ordinary roundingtechniques.

Any numerical range recited herein includes all sub-ranges subsumedwithin the recited range. For example, a range of “1 to 10” includes allsub-ranges between (and including) the recited minimum value of 1 andthe recited maximum value of 10, that is, having a minimum value equalto or greater than 1 and a maximum value equal to or less than 10. Also,all ranges recited herein are inclusive of the end points of the recitedranges. For example, a range of “1 to 10” includes the end points 1 and10. Any maximum numerical limitation recited in this specification isintended to include all lower numerical limitations subsumed therein,and any minimum numerical limitation recited in this specification isintended to include all higher numerical limitations subsumed therein.Accordingly, Applicant reserves the right to amend this specification,including the claims, to expressly recite any sub-range subsumed withinthe ranges expressly recited. All such ranges are inherently describedin this specification.

Any patent application, patent, non-patent publication, or otherdisclosure material referred to in this specification and/or listed inany Application Data Sheet is incorporated by reference herein, to theextent that the incorporated materials is not inconsistent herewith. Assuch, and to the extent necessary, the disclosure as explicitly setforth herein supersedes any conflicting material incorporated herein byreference. Any material, or portion thereof, that is said to beincorporated by reference herein, but which conflicts with existingdefinitions, statements, or other disclosure material set forth hereinwill only be incorporated to the extent that no conflict arises betweenthat incorporated material and the existing disclosure material.

In summary, numerous benefits have been described which result fromemploying the concepts described herein. The foregoing description ofthe one or more forms has been presented for purposes of illustrationand description. It is not intended to be exhaustive or limiting to theprecise form disclosed. Modifications or variations are possible inlight of the above teachings. The one or more forms were chosen anddescribed in order to illustrate principles and practical application tothereby enable one of ordinary skill in the art to utilize the variousforms and with various modifications as are suited to the particular usecontemplated. It is intended that the claims submitted herewith definethe overall scope.

What is claimed is:
 1. A surgical instrument assembly, comprising: ashaft; an end effector; a drive member configured to actuate a functionof the end effector; an articulation member configured to be actuated toarticulate the end effector; and an articulation region, wherein thearticulation member is configured to articulate the end effectorrelative to the shaft by way of the articulation region, wherein thedrive member extends through the shaft, the articulation region, and theend effector, and wherein the articulation region comprises: anarticulation support pivot positioned within the articulation region,wherein the articulation member is coupled to the articulation supportpivot, wherein the articulation member is actuatable to rotate thearticulation support pivot, and wherein the drive member extends throughthe articulation support pivot.
 2. The surgical instrument assembly ofclaim 1, wherein the drive member is configured to be supportedlaterally by the articulation support pivot upon the articulation of theend effector.
 3. The surgical instrument assembly of claim 1, whereinthe drive member comprises a linearly translatable drive member.
 4. Thesurgical instrument assembly of claim 1, wherein the drive membercomprises a rotary drive member.
 5. The surgical instrument assembly ofclaim 1, wherein the articulation member comprises a first articulationmember, and wherein the surgical instrument assembly further comprises asecond articulation member, wherein the articulation region furthercomprises an actuation pin coupled to the first articulation member, thesecond articulation member, and the articulation support pivot.
 6. Thesurgical instrument assembly of claim 5, wherein the first articulationmember and the second articulation member comprise an antagonisticactuation stroke.
 7. The surgical instrument assembly of claim 1,wherein the shaft defines a longitudinal axis, wherein the articulationsupport pivot comprises a cylindrical body portion defining a centralaxis, and wherein the central axis is transverse to the longitudinalaxis.
 8. The surgical instrument assembly of claim 1, wherein thearticulation support pivot comprises a longitudinal passageway definedtherethrough, wherein the drive member extends through the longitudinalpassageway.
 9. A surgical instrument assembly, comprising: a shaft; anend effector; a drive member configured to actuate a function of the endeffector; an articulation member configured to be actuated to articulatethe end effector; and an articulation joint, wherein the articulationmember is configured to articulate the end effector relative to theshaft about the articulation joint, wherein the drive member extendsthrough the shaft, the articulation joint, and the end effector, andwherein the articulation joint comprises: a cylindrical support body,wherein the articulation member is coupled to the cylindrical supportbody, wherein the articulation member is actuatable to rotate thecylindrical support body about a central axis defined by the cylindricalsupport body, and wherein the drive member extends through thecylindrical support body.
 10. The surgical instrument assembly of claim9, wherein the drive member is configured to be supported laterally bythe cylindrical support body.
 11. The surgical instrument assembly ofclaim 9, wherein the drive member comprises a linearly translatabledrive member.
 12. The surgical instrument assembly of claim 9, whereinthe drive member comprises a rotary drive member.
 13. The surgicalinstrument assembly of claim 9, wherein the articulation membercomprises a first articulation member, and wherein the surgicalinstrument assembly further comprises a second articulation member,wherein the articulation joint further comprises an actuation pincoupled the first articulation member, the second articulation member,and the cylindrical support body.
 14. The surgical instrument assemblyof claim 13, wherein the first articulation member and the secondarticulation member comprise an antagonistic actuation stroke.
 15. Thesurgical instrument assembly of claim 9, wherein the shaft defines alongitudinal axis, and wherein the central axis is transverse to thelongitudinal axis.
 16. The surgical instrument assembly of claim 9,wherein the shaft is attached to the end effector by way of a pin. 17.The surgical instrument assembly of claim 16, wherein the shaft, the endeffector, and the cylindrical support body are coupled to each other bythe pin.
 18. A surgical instrument assembly, comprising: a shaftdefining a longitudinal axis; an end effector pivotally attached to theshaft; a drive member configured to actuate a function of the endeffector; an articulation member configured to articulate the endeffector relative to the shaft; and a cylindrical support bodypositioned between the shaft and the end effector, wherein thearticulation member is attached to the cylindrical support body, whereinthe articulation member is actuatable to rotate the cylindrical supportbody about a central axis defined by the cylindrical support body toarticulate the end effector relative to the shaft, wherein the drivemember extends through the cylindrical support body, the shaft, and theend effector, and wherein the drive member is configured to prevent thecylindrical support body from being laterally slid out of engagementbetween the shaft and the end effector.
 19. The surgical instrumentassembly of claim 18, wherein the articulation member comprises a firstarticulation member, and wherein the surgical instrument assemblyfurther comprises a second articulation member, wherein the articulationjoint further comprises an actuation pin coupled the first articulationmember, the second articulation member, and the cylindrical supportbody.
 20. The surgical instrument assembly of claim 19, wherein thefirst articulation member and the second articulation member comprise anantagonistic actuation stroke.